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provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/_sources/intro/compiling.rst.txt b/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/_sources/intro/index.rst.txt b/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/_sources/intro/structure.rst.txt b/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/_sources/intro/suites/desktop.rst.txt b/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/_sources/intro/suites/doc.rst.txt b/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/_sources/intro/testing.rst.txt b/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/_sources/releng/index.rst.txt b/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/_sources/roficom/index.rst.txt b/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/_sources/rofihal/index.rst.txt b/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/_sources/rofilib/atoms/containers.rst.txt b/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/_sources/rofilib/atoms/index.rst.txt b/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/_sources/rofilib/atoms/patterns.rst.txt b/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/_sources/rofilib/atoms/resources.rst.txt b/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/_sources/rofilib/atoms/result.rst.txt b/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/_sources/rofilib/configurations/index.rst.txt b/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/_sources/rofilib/configurations/rofiworld.rst.txt b/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/_sources/rofilib/configurations/serializations/json.rst.txt b/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/_sources/rofilib/configurations/serializations/voxel.rst.txt b/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/_sources/rofilib/configurations/tooling_usage.rst.txt b/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/_sources/rofilib/configurations/voxel.rst.txt b/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/_sources/rofilib/index.rst.txt b/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/_sources/tutorials/index.rst.txt b/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/_sources/tutorials/simulator.md.txt b/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. 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= function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? 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params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/_static/documentation_options.js b/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/_static/file.png b/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/_static/file.png differ diff --git a/_static/jquery-3.5.1.js b/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/index.html b/branch/addCxx/index.html new file mode 100644 index 000000000..866a3decb --- /dev/null +++ b/branch/addCxx/index.html @@ -0,0 +1,260 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

RoFI HAL

Getting Started

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/intro/compiling.html b/branch/addCxx/intro/compiling.html new file mode 100644 index 000000000..8c312444f --- /dev/null +++ b/branch/addCxx/intro/compiling.html @@ -0,0 +1,384 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/intro/index.html b/branch/addCxx/intro/index.html new file mode 100644 index 000000000..e84a3df88 --- /dev/null +++ b/branch/addCxx/intro/index.html @@ -0,0 +1,165 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/intro/structure.html b/branch/addCxx/intro/structure.html new file mode 100644 index 000000000..f1d9bb617 --- /dev/null +++ b/branch/addCxx/intro/structure.html @@ -0,0 +1,159 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/intro/suites/desktop.html b/branch/addCxx/intro/suites/desktop.html new file mode 100644 index 000000000..8b90fbffe --- /dev/null +++ b/branch/addCxx/intro/suites/desktop.html @@ -0,0 +1,167 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/intro/suites/doc.html b/branch/addCxx/intro/suites/doc.html new file mode 100644 index 000000000..8d2e03b20 --- /dev/null +++ b/branch/addCxx/intro/suites/doc.html @@ -0,0 +1,153 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/intro/testing.html b/branch/addCxx/intro/testing.html new file mode 100644 index 000000000..d63c1c534 --- /dev/null +++ b/branch/addCxx/intro/testing.html @@ -0,0 +1,182 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/objects.inv b/branch/addCxx/objects.inv new file mode 100644 index 000000000..24ef50de5 Binary files /dev/null and b/branch/addCxx/objects.inv differ diff --git a/branch/addCxx/roficom/index.html b/branch/addCxx/roficom/index.html new file mode 100644 index 000000000..314d4e6b1 --- /dev/null +++ b/branch/addCxx/roficom/index.html @@ -0,0 +1,113 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofihal/index.html b/branch/addCxx/rofihal/index.html new file mode 100644 index 000000000..b9e19e731 --- /dev/null +++ b/branch/addCxx/rofihal/index.html @@ -0,0 +1,1059 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/atoms/containers.html b/branch/addCxx/rofilib/atoms/containers.html new file mode 100644 index 000000000..44e558890 --- /dev/null +++ b/branch/addCxx/rofilib/atoms/containers.html @@ -0,0 +1,327 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/atoms/index.html b/branch/addCxx/rofilib/atoms/index.html new file mode 100644 index 000000000..ef611eced --- /dev/null +++ b/branch/addCxx/rofilib/atoms/index.html @@ -0,0 +1,153 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/atoms/patterns.html b/branch/addCxx/rofilib/atoms/patterns.html new file mode 100644 index 000000000..bede742de --- /dev/null +++ b/branch/addCxx/rofilib/atoms/patterns.html @@ -0,0 +1,458 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/atoms/resources.html b/branch/addCxx/rofilib/atoms/resources.html new file mode 100644 index 000000000..a4f9382a3 --- /dev/null +++ b/branch/addCxx/rofilib/atoms/resources.html @@ -0,0 +1,233 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/atoms/result.html b/branch/addCxx/rofilib/atoms/result.html new file mode 100644 index 000000000..debec7056 --- /dev/null +++ b/branch/addCxx/rofilib/atoms/result.html @@ -0,0 +1,1043 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/configuration.html b/branch/addCxx/rofilib/configuration.html new file mode 100644 index 000000000..2b8db2c5f --- /dev/null +++ b/branch/addCxx/rofilib/configuration.html @@ -0,0 +1,1524 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every RoFI world – a set +of rofibots (self-contained bots fixed in space) – and work with it. +Configuration computes positions of every component within each bot and +provides useful functions for manipulation with the whole world, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +RofiWorld for which you create an +instance and add all the modules you want to have in the world. You have to +connect these modules one to another appropriately to form individual rofibots. +If you want to use absolute positions, you have to fix one of components of each +bot in space, otherwise, the configuration cannot figure out its coordinates +because everything is kept relative.

+

For example, let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e., compute positions of each +part – bot – of the world) and check for its validity.

+
auto prepared = world.prepare();
+if ( !prepared )
+    std::cerr << "could not prepare configuration: " << prepared.assume_error() << "\n";
+auto valid = world.isValid( SimpleCollision() );
+if ( !valid )
+    std::cerr << "invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator UmShoe
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator Roficom
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/rofilib/index.html b/branch/addCxx/rofilib/index.html new file mode 100644 index 000000000..2db289b72 --- /dev/null +++ b/branch/addCxx/rofilib/index.html @@ -0,0 +1,160 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

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e:[3,12,14],sometim:11,somewhat:11,sourc:[1,2,3,6,12,14],sourceaxi:14,sourcecompon:14,sourceconnector:14,sourcemodul:14,sourceorigin:14,sourcetodest:14,sourcetodestin:14,south:[8,14],space:[1,14,17],spacejoint:14,spacejointhandl:14,span:14,special:[12,13],specif:[1,10,14],specifi:[1,6,11,12,13,14,17],speed:[6,8],spheric:14,sphinx:5,split:17,ssh:2,stabl:11,stack:1,standard:[1,9,17],start:[0,2,6,8,12,17],state:[1,8,14],static_cast:13,statu:8,std:[8,9,11,12,13,14,17],stderr:6,stdout:6,step:1,still:14,stl:1,stm32:1,stodest:14,stop:17,store:[9,11,14,17],str:13,straightforward:14,string:[8,11,12,13,14],string_view:14,struct:[8,11,13,14],structur:[0,11],studi:3,subclass:14,successor:11,suit:[0,2,6,17],suitabl:[13,14],suitenam:[1,6],support:14,suppos:9,sure:[1,17],swap:[8,9,11,14],symbol:12,synchron:17,system:[4,5,14],t:[6,9,11,13,14,17],tab:[1,6],take:[8,11,14],target:[0,2,3,6],target_link_librari:17,task:[0,11,16],teardown:1,tediou:11,templat:[9,11,13,14],temporari:12,termin:1,test:[0,1,2,12,17],test_file_bmp:12,testtargetnam:6,text:14,textual:14,textur:12,thei:[1,10,17],them:[1,6,11],theme:5,theori:10,therefor:[1,11,12],thi:[0,1,2,3,4,5,6,8,9,11,12,13,14,17],think:[1,17],thread:17,three:[8,14],throughout:15,thu:[1,4],tidi:1,time:[9,17],to_str:13,togeth:17,tojson:14,too:14,tool:[1,3,4,5],top:4,topic:0,topology2dot:1,torqu:8,trace:1,tradit:11,transform:[13,14],transform_error:13,translat:14,translatecompon:14,tree:1,true_typ:13,ts:11,tutori:[0,1,3,6],twice:6,two:[1,13,14,17],two_modul:1,txt:17,type:[0,1,9,11,13,15],typedef:8,typenam:[9,11,13,14],typeplacehold:13,typevisitor:11,typic:11,uint16_t:8,uint8_t:8,um:14,umbodi:14,umsho:14,unconfigur:1,under:1,underli:1,underscor:12,uniqu:[8,9,12,14],unique_ptr:11,unit:[1,6],univers:[0,3,14,16],universalmodul:[3,14],unknown:14,unknownmodul:14,unnecessari:11,unsign:13,unus:9,up:[1,2,4,6],updat:17,upper:14,us:[1,3,4,5,6,8,9,10,11,12,13,14,15,17],usag:[0,1,10,14,15],usecas:13,user:[6,12,13,14],usual:[1,6,12],util:[10,13],v:1,val:13,valid:[12,14],valu:[8,9,11,13,14,17],value0:13,value42:13,value_or:13,value_typ:[8,9,13],valueptr:[0,10,14,15],valuet:13,variabl:[1,17],variant:13,variou:[1,14],vector:[9,13,14],veloc:8,verbos:1,version:[0,1,17],vi:[1,13],via:[1,4,5,6,8,9,11,12,14],video:3,view:14,virtual:[8,11,14],visit:[11,14],visitablebas:[11,14],visitor:[0,10,15],visitortyp:11,visual:[1,4],voltag:8,vtk:[4,12],wa:[12,14],wai:[11,13,14,17],wait:[8,17],walkthrough:[0,16],want:[1,11,14],we:[1,2,3,6,11,14],welcom:2,well:13,went:6,were:14,west:[8,14],what:[6,11,17],when:[1,8,11,12,13,14,17],whenev:1,where:[1,14,17],whether:[3,4,13,14,17],which:[1,8,9,11,12,14,17],whole:[3,6,14],width:14,wikipedia:11,window:1,within:14,without:[6,11,12],won:[11,17],work:[1,3,8,11,12,13,14,17],worktre:1,world:[0,1,14,16],would:1,wrapper:8,write:[0,2,14],written:[6,14],wrong:6,x:[12,14,17],y:17,you:[0,1,2,3,5,6,8,9,11,12,13,14,17],your:[0,1,6,8,11,12,14,16],z3:4,z:17,zero:[6,8],zip:1},titles:["RoFI - Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":17,"1":17,"2":17,"3":17,"4":17,"5":17,"6":17,"class":[8,9,12,13,14],"function":[13,14],advanc:1,atom:10,attribut:14,build:[1,4,5],c:6,callback:14,cloneabl:11,code:[1,17],commun:17,compil:[1,2,17],configur:[1,14,17],constant:[8,14],contain:9,content:0,creat:17,depend:[4,5],desktop:4,document:[0,5],embed:12,environ:1,exampl:1,filter:17,flash:1,folder:17,gazebosim:1,hal:8,hardwar:1,hello:17,hiearchi:11,introduct:2,macro:12,manag:12,modul:[1,14,17,18],move:17,multipl:17,network:8,object:11,option:[4,5],packet:17,pattern:11,process:1,project:3,quick:1,refer:[9,12,13],resourc:12,result:13,robot:1,rofi:[0,1,8],roficom:7,rofilib:15,run:[6,17],same:17,serial:14,setup:17,simplesim:[1,17],simul:[1,17],solut:17,start:1,structur:[2,3],suit:[1,4,5],target:1,task:17,technic:0,test:6,tutori:[16,17],type:[8,14],univers:[17,18],usag:[12,13],valueptr:11,visitor:11,walkthrough:17,world:17,write:6,your:17}}) \ No newline at end of file diff --git a/branch/addCxx/tutorials/index.html b/branch/addCxx/tutorials/index.html new file mode 100644 index 000000000..25110543b --- /dev/null +++ b/branch/addCxx/tutorials/index.html @@ -0,0 +1,152 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
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+ + + + \ No newline at end of file diff --git a/branch/addCxx/tutorials/simulator.html b/branch/addCxx/tutorials/simulator.html new file mode 100644 index 000000000..8be4538a8 --- /dev/null +++ b/branch/addCxx/tutorials/simulator.html @@ -0,0 +1,409 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
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+ +
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+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/addCxx/universalModule/index.html b/branch/addCxx/universalModule/index.html new file mode 100644 index 000000000..0114687ac --- /dev/null +++ b/branch/addCxx/universalModule/index.html @@ -0,0 +1,111 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/_images/code.jpg b/branch/avrCom/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/avrCom/_images/code.jpg differ diff --git a/branch/avrCom/_images/connector_photo.jpg b/branch/avrCom/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/avrCom/_images/connector_photo.jpg differ diff --git a/branch/avrCom/_images/um_photo.jpg b/branch/avrCom/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/avrCom/_images/um_photo.jpg differ diff --git a/branch/avrCom/_sources/index.rst.txt b/branch/avrCom/_sources/index.rst.txt new file mode 100644 index 000000000..8b49f5308 --- /dev/null +++ b/branch/avrCom/_sources/index.rst.txt @@ -0,0 +1,45 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +=================== =================== =================== +|Getting Started|_ |RoFI HAL|_ +------------------- ------------------- ------------------- +`Getting Started`_ `RoFI HAL`_ +------------------- ------------------- ------------------- +|RoFI Library|_ |RoFICoM|_ |Universal Module|_ +------------------- ------------------- ------------------- +`RoFI Library`_ `RoFICoM`_ `Universal Module`_ +=================== =================== =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/avrCom/_sources/intro/compiling.rst.txt b/branch/avrCom/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/avrCom/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/avrCom/_sources/intro/index.rst.txt b/branch/avrCom/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/avrCom/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/avrCom/_sources/intro/structure.rst.txt b/branch/avrCom/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/avrCom/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/avrCom/_sources/intro/suites/desktop.rst.txt b/branch/avrCom/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..82ecd6570 --- /dev/null +++ b/branch/avrCom/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,37 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/avrCom/_sources/intro/suites/doc.rst.txt b/branch/avrCom/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/avrCom/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/avrCom/_sources/intro/testing.rst.txt b/branch/avrCom/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/avrCom/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/avrCom/_sources/roficom/index.rst.txt b/branch/avrCom/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/avrCom/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/avrCom/_sources/rofihal/index.rst.txt b/branch/avrCom/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/avrCom/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/avrCom/_sources/rofilib/atoms/containers.rst.txt b/branch/avrCom/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/avrCom/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/avrCom/_sources/rofilib/atoms/index.rst.txt b/branch/avrCom/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/avrCom/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/avrCom/_sources/rofilib/atoms/patterns.rst.txt b/branch/avrCom/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/avrCom/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/avrCom/_sources/rofilib/atoms/resources.rst.txt b/branch/avrCom/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/avrCom/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/avrCom/_sources/rofilib/atoms/result.rst.txt b/branch/avrCom/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/avrCom/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/avrCom/_sources/rofilib/configuration.rst.txt b/branch/avrCom/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..c6d7934b0 --- /dev/null +++ b/branch/avrCom/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,333 @@ +Configuration +============= + +Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every RoFI world -- a set +of rofibots (self-contained bots fixed in space) -- and work with it. +Configuration computes positions of every component within each bot and +provides useful functions for manipulation with the whole world, including +some validity checks (e.g., collision checks). + +Using the configuration is pretty straightforward. The main class is +:cpp:class:`RofiWorld ` for which you create an +instance and add all the modules you want to have in the world. You have to +connect these modules one to another appropriately to form individual rofibots. +If you want to use absolute positions, you have to fix one of components of each +bot in space, otherwise, the configuration cannot figure out its coordinates +because everything is kept relative. + +For example, let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e., compute positions of each +part -- bot -- of the world) and check for its validity. + +.. code-block:: cpp + + world.prepare(); + auto [ ok, err ] = world.isValid( SimpleCollision() ); + if ( !ok ) + std::cerr << "invalid configuration: " << err << "\n"; + + // or you can shorten the above to + auto [ ok, err ] = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto [ ok, err ] = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Modules +------- + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration + +Serialization +------------- + +Configuration also supports serialization to and from `json `_ +format via functions `toJSON` and `fromJSON` respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +`nlohman::json `_ library. + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit – number >, + "max" : < upper-limit – number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/avrCom/_sources/rofilib/index.rst.txt b/branch/avrCom/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..560129115 --- /dev/null +++ b/branch/avrCom/_sources/rofilib/index.rst.txt @@ -0,0 +1,12 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + configuration + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/avrCom/_sources/tutorials/index.rst.txt b/branch/avrCom/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/avrCom/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/avrCom/_sources/tutorials/simulator.md.txt b/branch/avrCom/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/avrCom/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/avrCom/_sources/universalModule/index.rst.txt b/branch/avrCom/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/avrCom/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/avrCom/_static/basic.css b/branch/avrCom/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/avrCom/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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--- /dev/null +++ b/branch/avrCom/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/avrCom/_static/documentation_options.js b/branch/avrCom/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/avrCom/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/avrCom/_static/file.png b/branch/avrCom/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/avrCom/_static/file.png differ diff --git a/branch/avrCom/_static/jquery-3.5.1.js b/branch/avrCom/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/avrCom/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/index.html b/branch/avrCom/index.html new file mode 100644 index 000000000..866a3decb --- /dev/null +++ b/branch/avrCom/index.html @@ -0,0 +1,260 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

RoFI HAL

Getting Started

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/intro/compiling.html b/branch/avrCom/intro/compiling.html new file mode 100644 index 000000000..8c312444f --- /dev/null +++ b/branch/avrCom/intro/compiling.html @@ -0,0 +1,384 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/intro/index.html b/branch/avrCom/intro/index.html new file mode 100644 index 000000000..e84a3df88 --- /dev/null +++ b/branch/avrCom/intro/index.html @@ -0,0 +1,165 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/intro/structure.html b/branch/avrCom/intro/structure.html new file mode 100644 index 000000000..f1d9bb617 --- /dev/null +++ b/branch/avrCom/intro/structure.html @@ -0,0 +1,159 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/intro/suites/desktop.html b/branch/avrCom/intro/suites/desktop.html new file mode 100644 index 000000000..8b90fbffe --- /dev/null +++ b/branch/avrCom/intro/suites/desktop.html @@ -0,0 +1,167 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/intro/suites/doc.html b/branch/avrCom/intro/suites/doc.html new file mode 100644 index 000000000..8d2e03b20 --- /dev/null +++ b/branch/avrCom/intro/suites/doc.html @@ -0,0 +1,153 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/intro/testing.html b/branch/avrCom/intro/testing.html new file mode 100644 index 000000000..d63c1c534 --- /dev/null +++ b/branch/avrCom/intro/testing.html @@ -0,0 +1,182 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/objects.inv b/branch/avrCom/objects.inv new file mode 100644 index 000000000..b23aa3a2c Binary files /dev/null and b/branch/avrCom/objects.inv differ diff --git a/branch/avrCom/roficom/index.html b/branch/avrCom/roficom/index.html new file mode 100644 index 000000000..314d4e6b1 --- /dev/null +++ b/branch/avrCom/roficom/index.html @@ -0,0 +1,113 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofihal/index.html b/branch/avrCom/rofihal/index.html new file mode 100644 index 000000000..b9e19e731 --- /dev/null +++ b/branch/avrCom/rofihal/index.html @@ -0,0 +1,1059 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/atoms/containers.html b/branch/avrCom/rofilib/atoms/containers.html new file mode 100644 index 000000000..44e558890 --- /dev/null +++ b/branch/avrCom/rofilib/atoms/containers.html @@ -0,0 +1,327 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/atoms/index.html b/branch/avrCom/rofilib/atoms/index.html new file mode 100644 index 000000000..ef611eced --- /dev/null +++ b/branch/avrCom/rofilib/atoms/index.html @@ -0,0 +1,153 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/atoms/patterns.html b/branch/avrCom/rofilib/atoms/patterns.html new file mode 100644 index 000000000..bede742de --- /dev/null +++ b/branch/avrCom/rofilib/atoms/patterns.html @@ -0,0 +1,458 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/atoms/resources.html b/branch/avrCom/rofilib/atoms/resources.html new file mode 100644 index 000000000..a4f9382a3 --- /dev/null +++ b/branch/avrCom/rofilib/atoms/resources.html @@ -0,0 +1,233 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/atoms/result.html b/branch/avrCom/rofilib/atoms/result.html new file mode 100644 index 000000000..970100e00 --- /dev/null +++ b/branch/avrCom/rofilib/atoms/result.html @@ -0,0 +1,1007 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both *this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/configuration.html b/branch/avrCom/rofilib/configuration.html new file mode 100644 index 000000000..3ac22f87b --- /dev/null +++ b/branch/avrCom/rofilib/configuration.html @@ -0,0 +1,1403 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every RoFI world – a set +of rofibots (self-contained bots fixed in space) – and work with it. +Configuration computes positions of every component within each bot and +provides useful functions for manipulation with the whole world, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +RofiWorld for which you create an +instance and add all the modules you want to have in the world. You have to +connect these modules one to another appropriately to form individual rofibots. +If you want to use absolute positions, you have to fix one of components of each +bot in space, otherwise, the configuration cannot figure out its coordinates +because everything is kept relative.

+

For example, let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e., compute positions of each +part – bot – of the world) and check for its validity.

+
world.prepare();
+auto [ ok, err ] = world.isValid( SimpleCollision() );
+if ( !ok )
+    std::cerr << "invalid configuration: " << err << "\n";
+
+// or you can shorten the above to
+auto [ ok, err ] = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto [ ok, err ] = world.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator UmShoe
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator Roficom
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+

Returns a reference to the newly created module.

+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+

Returns a reference to the newly created module.

+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+void prepare()
+

Precompute position of all the modules in the configuration.

+

Raises std::runtime_error if the configuration is inconsistent, and, therefore, it cannot be

+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, if it’s in use, the ID is left the same and the method returns False. Otherwise the ID is changed. Returns True on success.

+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+inline void prepare()
+

Precompute component relative positions.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+

Raises std::logic_error if the world is not prepared

+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+

Returns the connector and orientation Returns nullopt if no such connector exists

+

Raises std::logic_error if the world is not prepared

+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(const std::string &cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(const std::string &cStr)
+
+ +
+
+static std::string translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+

Requires that both modules belong to the same RofiWorld , otherwise std::logic_error is thrown.

+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+

First argument specified the component, the rest of the arguments are forwarded

+

Returns ID of the joint which can be used for setting parameters of the joint

+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/rofilib/index.html b/branch/avrCom/rofilib/index.html new file mode 100644 index 000000000..2db289b72 --- /dev/null +++ b/branch/avrCom/rofilib/index.html @@ -0,0 +1,160 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
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+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/avrCom/searchindex.js b/branch/avrCom/searchindex.js new file mode 100644 index 000000000..398ea7ca4 --- /dev/null +++ b/branch/avrCom/searchindex.js @@ -0,0 +1 @@ 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- Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal 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a/branch/avrCom/tutorials/index.html b/branch/avrCom/tutorials/index.html new file mode 100644 index 000000000..25110543b --- /dev/null +++ b/branch/avrCom/tutorials/index.html @@ -0,0 +1,152 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
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+ + + + \ No newline at end of file diff --git a/branch/avrCom/tutorials/simulator.html b/branch/avrCom/tutorials/simulator.html new file mode 100644 index 000000000..8be4538a8 --- /dev/null +++ b/branch/avrCom/tutorials/simulator.html @@ -0,0 +1,409 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
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+ +
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+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/avrCom/universalModule/index.html b/branch/avrCom/universalModule/index.html new file mode 100644 index 000000000..0114687ac --- /dev/null +++ b/branch/avrCom/universalModule/index.html @@ -0,0 +1,111 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/_images/code.jpg b/branch/blockBuilding/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/blockBuilding/_images/code.jpg differ diff --git a/branch/blockBuilding/_images/connector_photo.jpg b/branch/blockBuilding/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/blockBuilding/_images/connector_photo.jpg differ diff --git a/branch/blockBuilding/_images/um_photo.jpg b/branch/blockBuilding/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/blockBuilding/_images/um_photo.jpg differ diff --git a/branch/blockBuilding/_sources/index.rst.txt b/branch/blockBuilding/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/blockBuilding/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/blockBuilding/_sources/intro/compiling.rst.txt b/branch/blockBuilding/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/blockBuilding/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/blockBuilding/_sources/intro/index.rst.txt b/branch/blockBuilding/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/blockBuilding/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/blockBuilding/_sources/intro/structure.rst.txt b/branch/blockBuilding/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/blockBuilding/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/blockBuilding/_sources/intro/suites/desktop.rst.txt b/branch/blockBuilding/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/blockBuilding/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/blockBuilding/_sources/intro/suites/doc.rst.txt b/branch/blockBuilding/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/blockBuilding/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/blockBuilding/_sources/intro/testing.rst.txt b/branch/blockBuilding/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/blockBuilding/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/blockBuilding/_sources/releng/index.rst.txt b/branch/blockBuilding/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/blockBuilding/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/blockBuilding/_sources/roficom/index.rst.txt b/branch/blockBuilding/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/blockBuilding/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/blockBuilding/_sources/rofihal/index.rst.txt b/branch/blockBuilding/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/blockBuilding/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/atoms/containers.rst.txt b/branch/blockBuilding/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/atoms/index.rst.txt b/branch/blockBuilding/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/blockBuilding/_sources/rofilib/atoms/patterns.rst.txt b/branch/blockBuilding/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/atoms/resources.rst.txt b/branch/blockBuilding/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/atoms/result.rst.txt b/branch/blockBuilding/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/configurations/index.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/blockBuilding/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/blockBuilding/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/blockBuilding/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/blockBuilding/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/blockBuilding/_sources/rofilib/configurations/voxel.rst.txt b/branch/blockBuilding/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/blockBuilding/_sources/rofilib/index.rst.txt b/branch/blockBuilding/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/blockBuilding/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/blockBuilding/_sources/tutorials/index.rst.txt b/branch/blockBuilding/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/blockBuilding/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/blockBuilding/_sources/tutorials/simulator.md.txt b/branch/blockBuilding/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/blockBuilding/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/blockBuilding/_sources/universalModule/index.rst.txt b/branch/blockBuilding/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/blockBuilding/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/blockBuilding/_static/basic.css b/branch/blockBuilding/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/blockBuilding/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/blockBuilding/_static/documentation_options.js b/branch/blockBuilding/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/blockBuilding/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/blockBuilding/_static/file.png b/branch/blockBuilding/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/blockBuilding/_static/file.png differ diff --git a/branch/blockBuilding/_static/jquery-3.5.1.js b/branch/blockBuilding/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/blockBuilding/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/index.html b/branch/blockBuilding/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/blockBuilding/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/intro/compiling.html b/branch/blockBuilding/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/blockBuilding/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/intro/index.html b/branch/blockBuilding/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/blockBuilding/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/intro/structure.html b/branch/blockBuilding/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/blockBuilding/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/intro/suites/desktop.html b/branch/blockBuilding/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/blockBuilding/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/intro/suites/doc.html b/branch/blockBuilding/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/blockBuilding/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/intro/testing.html b/branch/blockBuilding/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/blockBuilding/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/objects.inv b/branch/blockBuilding/objects.inv new file mode 100644 index 000000000..ff05b370d Binary files /dev/null and b/branch/blockBuilding/objects.inv differ diff --git a/branch/blockBuilding/releng/index.html b/branch/blockBuilding/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/blockBuilding/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/roficom/index.html b/branch/blockBuilding/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/blockBuilding/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofihal/index.html b/branch/blockBuilding/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/blockBuilding/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/atoms/containers.html b/branch/blockBuilding/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/blockBuilding/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/atoms/index.html b/branch/blockBuilding/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/blockBuilding/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/atoms/patterns.html b/branch/blockBuilding/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/blockBuilding/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/atoms/resources.html b/branch/blockBuilding/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/blockBuilding/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/atoms/result.html b/branch/blockBuilding/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/blockBuilding/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/index.html b/branch/blockBuilding/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/parsing_in_cpp.html b/branch/blockBuilding/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/rofiworld.html b/branch/blockBuilding/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..5ab3f0751 --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/rofiworld.html @@ -0,0 +1,1370 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+
+enumerator Cylinder
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+
+enumerator Support
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::Support, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/serializations/json.html b/branch/blockBuilding/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/serializations/voxel.html b/branch/blockBuilding/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/tooling_usage.html b/branch/blockBuilding/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/configurations/voxel.html b/branch/blockBuilding/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/blockBuilding/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/rofilib/index.html b/branch/blockBuilding/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/blockBuilding/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/search.html b/branch/blockBuilding/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/blockBuilding/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
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  • Search
    • +
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+
+
+
+
+ + + + +
+ +
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+ +
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+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/blockBuilding/searchindex.js b/branch/blockBuilding/searchindex.js new file mode 100644 index 000000000..e71492be8 --- /dev/null +++ b/branch/blockBuilding/searchindex.js @@ -0,0 +1 @@ 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,uniqu:[9,10,13,17],unique_ptr:12,unit:[1,6,17],univers:[0,3,15,17,18,21,23],universalmodul:[3,17,21],universalmodulejointvisitor:12,unknown:17,unknownmodul:[17,18],unnecessari:12,unprepar:16,unsign:14,unus:10,up:[1,2,4,6,7,17],updat:[7,9,24],updatedockerimag:7,updatepartit:9,upper:18,us:[1,3,4,5,6,7,9,10,11,12,13,14,16,17,18,20,21,22,24],usag:[0,1,11,22],usecas:14,user:[6,13,14,17],usual:[1,6,13,16],util:[11,14],v:1,val:14,valid:[9,13,16,17,19],validatedrofiworldseq:16,validaterofiworldseq:16,valu:[9,10,12,14,16,17,18,20,21,24],value0:14,value42:14,value_or:14,value_typ:[9,10,14,16],valueptr:[0,11,17,22],valuet:14,variabl:[1,24],variant:14,variou:[1,17],vector:[10,14,16,17,18,21],veloc:9,verbos:1,version:[0,1,24],vi:[1,14],via:[1,4,5,6,7,9,10,12,13,17,18],video:3,view:17,viki:16,virtual:[9,12,17],visit:[12,17],visitablebas:[12,17],visitor:[0,11,22],visitortyp:12,visual:[1,4,20],voltag:9,voxel:[0,15,16,20,22],voxelworld:[19,20,21],vtk:[4,13],wa:[9,13,17],wai:[12,14,15,17,18,24],wait:[9,24],walkthrough:[0,23],want:[1,12,16,17,21],we:[1,2,3,6,12,18],welcom:2,well:14,went:6,were:18,west:[9,17],what:[6,12,24],when:[1,9,12,13,14,16,18,20,21,24],whenev:1,where:[1,18,19,24],whether:[3,4,14,16,17,20,21,24],which:[1,7,9,10,12,13,15,16,17,18,21,24],whole:[3,6,17,21],width:[17,18],wikipedia:12,window:1,within:[17,18],without:[6,12,13,16],won:[12,24],work:[1,3,9,12,13,14,17,18,24],workflow:7,worktre:1,world:[0,1,16,17,18,19,20,21,23],worldformat:16,worldseq:16,worldt:16,would:1,wrapper:9,write:[0,2,9,16,18],writerofiworld:16,writerofiworldseq:16,written:[6,18],wrong:6,x:[13,17,18,19,21,24],xplusconndirect:21,y:[19,21,24],yet:21,yml:7,you:[0,1,2,3,5,6,7,9,10,12,13,14,16,17,18,21,24],your:[0,1,6,9,12,13,18,23],z3:4,z:[19,21,24],zconndirect:21,zero:[6,9,21],zip:1},titles:["RoFI \u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/blockBuilding/tutorials/index.html b/branch/blockBuilding/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/blockBuilding/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/tutorials/simulator.html b/branch/blockBuilding/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/blockBuilding/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/blockBuilding/universalModule/index.html b/branch/blockBuilding/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/blockBuilding/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/_images/code.jpg b/branch/dummyHal/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/dummyHal/_images/code.jpg differ diff --git a/branch/dummyHal/_images/connector_photo.jpg b/branch/dummyHal/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/dummyHal/_images/connector_photo.jpg differ diff --git a/branch/dummyHal/_images/um_photo.jpg b/branch/dummyHal/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/dummyHal/_images/um_photo.jpg differ diff --git a/branch/dummyHal/_sources/index.rst.txt b/branch/dummyHal/_sources/index.rst.txt new file mode 100644 index 000000000..8b49f5308 --- /dev/null +++ b/branch/dummyHal/_sources/index.rst.txt @@ -0,0 +1,45 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +=================== =================== =================== +|Getting Started|_ |RoFI HAL|_ +------------------- ------------------- ------------------- +`Getting Started`_ `RoFI HAL`_ +------------------- ------------------- ------------------- +|RoFI Library|_ |RoFICoM|_ |Universal Module|_ +------------------- ------------------- ------------------- +`RoFI Library`_ `RoFICoM`_ `Universal Module`_ +=================== =================== =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/dummyHal/_sources/intro/compiling.rst.txt b/branch/dummyHal/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..8a59abd01 --- /dev/null +++ b/branch/dummyHal/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/init.in # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/dummyHal/_sources/intro/index.rst.txt b/branch/dummyHal/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/dummyHal/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/dummyHal/_sources/intro/structure.rst.txt b/branch/dummyHal/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/dummyHal/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/dummyHal/_sources/intro/suites/desktop.rst.txt b/branch/dummyHal/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..a5f6f24a1 --- /dev/null +++ b/branch/dummyHal/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,36 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/dummyHal/_sources/intro/suites/doc.rst.txt b/branch/dummyHal/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/dummyHal/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/dummyHal/_sources/intro/testing.rst.txt b/branch/dummyHal/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/dummyHal/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/dummyHal/_sources/roficom/index.rst.txt b/branch/dummyHal/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/dummyHal/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/dummyHal/_sources/rofihal/index.rst.txt b/branch/dummyHal/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/dummyHal/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/dummyHal/_sources/rofilib/atoms/containers.rst.txt b/branch/dummyHal/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/dummyHal/_sources/rofilib/atoms/index.rst.txt b/branch/dummyHal/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/dummyHal/_sources/rofilib/atoms/patterns.rst.txt b/branch/dummyHal/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/dummyHal/_sources/rofilib/atoms/resources.rst.txt b/branch/dummyHal/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/dummyHal/_sources/rofilib/atoms/result.rst.txt b/branch/dummyHal/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/dummyHal/_sources/rofilib/configuration.rst.txt b/branch/dummyHal/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..4fb43bd00 --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,331 @@ +Configuration +============= + +Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks). + +Using the configuration is pretty straightforward. The main class is +:cpp:class:`Rofibot ` for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot's components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative). + +For example, let us create a small bot with two universal modules. + +.. code-block:: cpp + + #include + + // ... + + Rofibot bot; + // add universal module with id 42 in the default state + auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `bot` in hand, you can then prepare it (i.e., compute its positions) +and check for validity. + +.. code-block:: cpp + + bot.prepare(); + auto [ ok, err ] = bot.isValid( SimpleCollision() ); + if ( !ok ) + std::cerr << "invalid configuration: " << err << "\n"; + + // or you can shorten the above to + auto [ ok, err ] = bot.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto [ ok, err ] = bot.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::Rofibot + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Modules +------- + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration + +Serialization +------------- + +Configuration also supports serialization to and from `json `_ +format via functions `toJSON` and `fromJSON` respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +`nlohman::json `_ library. + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + Rofibot bot = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit – number >, + "max" : < upper-limit – number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, Rofibot::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/dummyHal/_sources/rofilib/index.rst.txt b/branch/dummyHal/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..560129115 --- /dev/null +++ b/branch/dummyHal/_sources/rofilib/index.rst.txt @@ -0,0 +1,12 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + configuration + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/dummyHal/_sources/tutorials/index.rst.txt b/branch/dummyHal/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/dummyHal/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/dummyHal/_sources/tutorials/simulator.md.txt b/branch/dummyHal/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/dummyHal/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/dummyHal/_sources/universalModule/index.rst.txt b/branch/dummyHal/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/dummyHal/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/dummyHal/_static/basic.css b/branch/dummyHal/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/dummyHal/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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000000000..e1bfd708b --- /dev/null +++ b/branch/dummyHal/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/dummyHal/_static/documentation_options.js b/branch/dummyHal/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/dummyHal/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/dummyHal/_static/file.png b/branch/dummyHal/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/dummyHal/_static/file.png differ diff --git a/branch/dummyHal/_static/jquery-3.5.1.js b/branch/dummyHal/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/dummyHal/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/index.html b/branch/dummyHal/index.html new file mode 100644 index 000000000..866a3decb --- /dev/null +++ b/branch/dummyHal/index.html @@ -0,0 +1,260 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

RoFI HAL

Getting Started

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/intro/compiling.html b/branch/dummyHal/intro/compiling.html new file mode 100644 index 000000000..56c06122b --- /dev/null +++ b/branch/dummyHal/intro/compiling.html @@ -0,0 +1,384 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug                      # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop              # Configure the desktop suite and build it
+$ rofi-simplesim --help                      # Display help
+$ rofi-simplesim data/configurations/init.in # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/intro/index.html b/branch/dummyHal/intro/index.html new file mode 100644 index 000000000..e84a3df88 --- /dev/null +++ b/branch/dummyHal/intro/index.html @@ -0,0 +1,165 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/intro/structure.html b/branch/dummyHal/intro/structure.html new file mode 100644 index 000000000..f1d9bb617 --- /dev/null +++ b/branch/dummyHal/intro/structure.html @@ -0,0 +1,159 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/intro/suites/desktop.html b/branch/dummyHal/intro/suites/desktop.html new file mode 100644 index 000000000..48b09f779 --- /dev/null +++ b/branch/dummyHal/intro/suites/desktop.html @@ -0,0 +1,166 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/intro/suites/doc.html b/branch/dummyHal/intro/suites/doc.html new file mode 100644 index 000000000..8d2e03b20 --- /dev/null +++ b/branch/dummyHal/intro/suites/doc.html @@ -0,0 +1,153 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/intro/testing.html b/branch/dummyHal/intro/testing.html new file mode 100644 index 000000000..d63c1c534 --- /dev/null +++ b/branch/dummyHal/intro/testing.html @@ -0,0 +1,182 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/objects.inv b/branch/dummyHal/objects.inv new file mode 100644 index 000000000..3a564e22e Binary files /dev/null and b/branch/dummyHal/objects.inv differ diff --git a/branch/dummyHal/roficom/index.html b/branch/dummyHal/roficom/index.html new file mode 100644 index 000000000..314d4e6b1 --- /dev/null +++ b/branch/dummyHal/roficom/index.html @@ -0,0 +1,113 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofihal/index.html b/branch/dummyHal/rofihal/index.html new file mode 100644 index 000000000..b9e19e731 --- /dev/null +++ b/branch/dummyHal/rofihal/index.html @@ -0,0 +1,1059 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/atoms/containers.html b/branch/dummyHal/rofilib/atoms/containers.html new file mode 100644 index 000000000..44e558890 --- /dev/null +++ b/branch/dummyHal/rofilib/atoms/containers.html @@ -0,0 +1,327 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/atoms/index.html b/branch/dummyHal/rofilib/atoms/index.html new file mode 100644 index 000000000..ef611eced --- /dev/null +++ b/branch/dummyHal/rofilib/atoms/index.html @@ -0,0 +1,153 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/atoms/patterns.html b/branch/dummyHal/rofilib/atoms/patterns.html new file mode 100644 index 000000000..bede742de --- /dev/null +++ b/branch/dummyHal/rofilib/atoms/patterns.html @@ -0,0 +1,458 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/atoms/resources.html b/branch/dummyHal/rofilib/atoms/resources.html new file mode 100644 index 000000000..a4f9382a3 --- /dev/null +++ b/branch/dummyHal/rofilib/atoms/resources.html @@ -0,0 +1,233 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/atoms/result.html b/branch/dummyHal/rofilib/atoms/result.html new file mode 100644 index 000000000..d69f4a442 --- /dev/null +++ b/branch/dummyHal/rofilib/atoms/result.html @@ -0,0 +1,905 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both *this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/configuration.html b/branch/dummyHal/rofilib/configuration.html new file mode 100644 index 000000000..4e47037cc --- /dev/null +++ b/branch/dummyHal/rofilib/configuration.html @@ -0,0 +1,1409 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +Rofibot for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot’s components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative).

+

For example, let us create a small bot with two universal modules.

+
#include <configuration/rofibot.hpp>
+
+// ...
+
+Rofibot bot;
+// add universal module with id 42 in the default state
+auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the bot in hand, you can then prepare it (i.e., compute its positions) +and check for validity.

+
bot.prepare();
+auto [ ok, err ] = bot.isValid( SimpleCollision() );
+if ( !ok )
+    std::cerr << "invalid configuration: " << err << "\n";
+
+// or you can shorten the above to
+auto [ ok, err ] = bot.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto [ ok, err ] = bot.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator UmShoe
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator Roficom
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class Rofibot
+

RoFI bot.

+

The rofibot is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+Rofibot() = default
+
+ +
+
+inline Rofibot(const Rofibot &other)
+
+ +
+
+inline Rofibot(Rofibot &&other)
+
+ +
+
+inline Rofibot &operator=(Rofibot other)
+
+ +
+
+inline void swap(Rofibot &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the Rofibot.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+void prepare()
+

Precompute position of all the modules in the configuration.

+

Raises std::runtime_error if the configuration is inconsistent, and, therefore, it cannot be

+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its parental rofibot, if it’s in use, the ID is left the same and the method returns False. Otherwise the ID is changed. Returns True on success.

+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+inline void prepare()
+

Precompute component relative positions.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+Rofibot *parent
+

pointer to parenting Rofibot

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, Rofibot::ModuleInfoHandle sourceModule, Rofibot::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getSourceModule(const Rofibot &rofibot) const
+
+ +
+
+inline Module &getDestModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getDestModule(const Rofibot &rofibot) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+Rofibot::ModuleInfoHandle sourceModule
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same Rofibot that can be connected to.

+

Returns the connector and orientation Returns nullopt if no such connector exists

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, Rofibot::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Types

+
+
+enum UmParts
+

Values:

+
+
+enumerator UmBodyA
+
+ +
+
+enumerator UmBodyB
+
+ +
+
+enumerator UmShoeA
+
+ +
+
+enumerator UmShoeB
+
+ +
+ +
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline const auto &getConnector(const std::string &cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(const std::string &cStr)
+
+ +
+
+static std::string translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+Rofibot::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+

Requires that both modules belong to the same Rofibot, otherwise std::logic_error is thrown.

+
+ +
+
+template<typename JointT, typename ...Args>
Rofibot::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+

First argument specified the component, the rest of the arguments are forwarded

+

Returns ID of the joint which can be used for setting parameters of the joint

+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+Rofibot bot = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot, Callback attrCb)
+

Serialize given Rofibot to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot)
+
+ +
+
+template<typename Callback>
inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a Rofibot from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a Rofibot

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, Rofibot::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/rofilib/index.html b/branch/dummyHal/rofilib/index.html new file mode 100644 index 000000000..2db289b72 --- /dev/null +++ b/branch/dummyHal/rofilib/index.html @@ -0,0 +1,160 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/search.html b/branch/dummyHal/search.html new file mode 100644 index 000000000..0eaab93c3 --- /dev/null +++ b/branch/dummyHal/search.html @@ -0,0 +1,124 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/dummyHal/searchindex.js b/branch/dummyHal/searchindex.js new file mode 100644 index 000000000..7e7430fd6 --- /dev/null +++ b/branch/dummyHal/searchindex.js @@ -0,0 +1 @@ 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],specifi:[1,6,11,12,13,14,17],speed:[6,8],spheric:14,sphinx:5,split:17,ssh:2,stabl:11,stack:1,standard:[1,9,17],start:[0,2,6,8,12,17],state:[1,8,14],static_cast:13,statu:8,std:[8,9,11,12,13,14,17],stderr:6,stdout:6,step:1,stl:1,stm32:1,stodest:14,stop:17,store:[9,11,14,17],str:13,straightforward:14,string:[8,11,12,13,14],struct:[8,11,13,14],structur:[0,11],studi:3,subclass:14,success:14,successor:11,suit:[0,2,6,17],suitabl:[13,14],suitenam:[1,6],support:14,suppos:9,sure:[1,17],swap:[8,9,11,14],symbol:12,synchron:17,system:[4,5,14],t:[6,9,11,13,17],tab:[1,6],take:[8,11,14],target:[0,2,3,6],target_link_librari:17,task:[0,11,16],teardown:1,tediou:11,templat:[9,11,13,14],temporari:12,termin:1,test:[0,1,2,12,17],test_file_bmp:12,testtargetnam:6,text:14,textual:14,textur:12,thei:[1,10,17],them:[1,6,11,14],theme:5,theori:10,therefor:[1,11,12,14],thi:[0,1,2,3,4,5,6,8,9,11,12,13,14,17],think:[1,17],thread:17,three:[8,14],throughout:15,thrown:14,thu:[1,4],tidi:1,time:[9,17],to_str:13,togeth:17,tojson:14,too:14,tool:[1,3,4,5],top:4,topic:0,topology2dot:1,torqu:8,trace:1,tradit:11,transform:[13,14],transform_error:13,translat:14,translatecompon:14,tree:1,true_typ:13,ts:11,tutori:[0,1,3,6],twice:6,two:[1,13,14,17],two_modul:1,txt:17,type:[0,1,9,11,13,15],typedef:8,typenam:[9,11,13,14],typeplacehold:13,typevisitor:11,typic:11,uint16_t:8,uint8_t:8,um:14,umbodi:14,umbodya:14,umbodyb:14,umpart:14,umsho:14,umshoea:14,umshoeb:14,unconfigur:1,under:1,underli:1,underscor:12,uniqu:[8,9,12,14],unique_ptr:11,unit:[1,6],univers:[0,3,14,16],universalmodul:[3,14],unknown:14,unknownmodul:14,unnecessari:11,unsign:13,unus:9,up:[1,2,4,6],updat:17,upper:14,us:[1,3,4,5,6,8,9,10,11,12,13,14,15,17],usag:[0,1,10,14,15],usecas:13,user:[6,12,13,14],usual:[1,6,12],util:[10,13],v:1,val:13,valid:[12,14],valu:[8,9,11,13,14,17],value0:13,value42:13,value_or:13,value_typ:[8,9,13],valueptr:[0,10,14,15],valuet:13,variabl:[1,17],variant:13,variou:[1,14],vector:[9,13,14],veloc:8,verbos:1,version:[0,1,17],vi:[1,13],via:[1,4,5,6,8,9,11,12,14],video:3,view:14,virtual:[8,11,14],visit:[11,14],visitablebas:[11,14],visitor:[0,10,15],visitortyp:11,visual:[1,4],voltag:8,vtk:[4,12],wa:12,wai:[11,13,14,17],wait:[8,17],walkthrough:[0,16],want:[1,11,14],we:[1,2,3,6,11,14],welcom:2,well:13,went:6,were:14,west:[8,14],what:[6,11,17],when:[1,8,11,12,13,14,17],whenev:1,where:[1,14,17],whether:[3,4,13,14,17],which:[1,8,9,11,12,14,17],whole:[3,6],width:14,wikipedia:11,window:1,within:14,without:[6,11,12],won:[11,17],work:[1,3,8,11,12,13,14,17],worktre:1,world:[0,1,16],would:1,wrapper:8,write:[0,2,14],written:[6,14],wrong:6,x:[12,14,17],y:17,you:[0,1,2,3,5,6,8,9,11,12,13,14,17],your:[0,1,6,8,11,12,14,16],z3:4,z:17,zero:[6,8],zip:1},titles:["RoFI - Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":17,"1":17,"2":17,"3":17,"4":17,"5":17,"6":17,"class":[8,9,12,13,14],"function":[13,14],advanc:1,atom:10,attribut:14,build:[1,4,5],c:6,callback:14,cloneabl:11,code:[1,17],commun:17,compil:[1,2,17],configur:[1,14,17],constant:[8,14],contain:9,content:0,creat:17,depend:[4,5],desktop:4,document:[0,5],embed:12,environ:1,exampl:1,filter:17,flash:1,folder:17,gazebosim:1,hal:8,hardwar:1,hello:17,hiearchi:11,introduct:2,macro:12,manag:12,modul:[1,14,17,18],move:17,multipl:17,network:8,object:11,option:[4,5],packet:17,pattern:11,process:1,project:3,quick:1,refer:[9,12,13],resourc:12,result:13,robot:1,rofi:[0,1,8],roficom:7,rofilib:15,run:[6,17],same:17,serial:14,setup:17,simplesim:[1,17],simul:[1,17],solut:17,start:1,structur:[2,3],suit:[1,4,5],target:1,task:17,technic:0,test:6,tutori:[16,17],type:[8,14],univers:[17,18],usag:[12,13],valueptr:11,visitor:11,walkthrough:17,world:17,write:6,your:17}}) \ No newline at end of file diff --git a/branch/dummyHal/tutorials/index.html b/branch/dummyHal/tutorials/index.html new file mode 100644 index 000000000..25110543b --- /dev/null +++ b/branch/dummyHal/tutorials/index.html @@ -0,0 +1,152 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
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+ + + + \ No newline at end of file diff --git a/branch/dummyHal/tutorials/simulator.html b/branch/dummyHal/tutorials/simulator.html new file mode 100644 index 000000000..8be4538a8 --- /dev/null +++ b/branch/dummyHal/tutorials/simulator.html @@ -0,0 +1,409 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
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+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/dummyHal/universalModule/index.html b/branch/dummyHal/universalModule/index.html new file mode 100644 index 000000000..0114687ac --- /dev/null +++ b/branch/dummyHal/universalModule/index.html @@ -0,0 +1,111 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/_images/code.jpg b/branch/feature/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/feature/_images/code.jpg differ diff --git a/branch/feature/_images/connector_photo.jpg b/branch/feature/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/feature/_images/connector_photo.jpg differ diff --git a/branch/feature/_images/um_photo.jpg b/branch/feature/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/feature/_images/um_photo.jpg differ diff --git a/branch/feature/_sources/index.rst.txt b/branch/feature/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/feature/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/feature/_sources/intro/compiling.rst.txt b/branch/feature/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/feature/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/feature/_sources/intro/index.rst.txt b/branch/feature/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/feature/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/feature/_sources/intro/structure.rst.txt b/branch/feature/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/feature/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/feature/_sources/intro/suites/desktop.rst.txt b/branch/feature/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/feature/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/feature/_sources/intro/suites/doc.rst.txt b/branch/feature/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/feature/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/feature/_sources/intro/testing.rst.txt b/branch/feature/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/feature/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/feature/_sources/releng/index.rst.txt b/branch/feature/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/feature/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/feature/_sources/roficom/index.rst.txt b/branch/feature/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/feature/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/feature/_sources/rofihal/index.rst.txt b/branch/feature/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/feature/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/feature/_sources/rofilib/atoms/containers.rst.txt b/branch/feature/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/feature/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/feature/_sources/rofilib/atoms/index.rst.txt b/branch/feature/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/feature/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/feature/_sources/rofilib/atoms/patterns.rst.txt b/branch/feature/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/feature/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/feature/_sources/rofilib/atoms/resources.rst.txt b/branch/feature/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/feature/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/feature/_sources/rofilib/atoms/result.rst.txt b/branch/feature/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/feature/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/feature/_sources/rofilib/configurations/index.rst.txt b/branch/feature/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/feature/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/feature/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/feature/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/feature/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/feature/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/feature/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/feature/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/feature/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/feature/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/feature/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/feature/_sources/rofilib/configurations/voxel.rst.txt b/branch/feature/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/feature/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/feature/_sources/rofilib/index.rst.txt b/branch/feature/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/feature/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/feature/_sources/tutorials/index.rst.txt b/branch/feature/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/feature/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/feature/_sources/tutorials/simulator.md.txt b/branch/feature/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/feature/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/feature/_sources/universalModule/index.rst.txt b/branch/feature/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/feature/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/feature/_static/basic.css b/branch/feature/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/feature/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/feature/_static/documentation_options.js b/branch/feature/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/feature/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/feature/_static/file.png b/branch/feature/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/feature/_static/file.png differ diff --git a/branch/feature/_static/jquery-3.5.1.js b/branch/feature/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/feature/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/index.html b/branch/feature/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/feature/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/intro/compiling.html b/branch/feature/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/feature/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/intro/index.html b/branch/feature/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/feature/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/intro/structure.html b/branch/feature/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/feature/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/intro/suites/desktop.html b/branch/feature/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/feature/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/intro/suites/doc.html b/branch/feature/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/feature/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/intro/testing.html b/branch/feature/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/feature/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/objects.inv b/branch/feature/objects.inv new file mode 100644 index 000000000..7c051fb0a Binary files /dev/null and b/branch/feature/objects.inv differ diff --git a/branch/feature/releng/index.html b/branch/feature/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/feature/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/roficom/index.html b/branch/feature/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/feature/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofihal/index.html b/branch/feature/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/feature/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/atoms/containers.html b/branch/feature/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/feature/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/atoms/index.html b/branch/feature/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/feature/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/atoms/patterns.html b/branch/feature/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/feature/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/atoms/resources.html b/branch/feature/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/feature/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/atoms/result.html b/branch/feature/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/feature/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/index.html b/branch/feature/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/feature/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/parsing_in_cpp.html b/branch/feature/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/feature/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/rofiworld.html b/branch/feature/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..b0481f30c --- /dev/null +++ b/branch/feature/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/serializations/json.html b/branch/feature/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/feature/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/serializations/voxel.html b/branch/feature/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/feature/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/tooling_usage.html b/branch/feature/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/feature/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/configurations/voxel.html b/branch/feature/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/feature/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/rofilib/index.html b/branch/feature/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/feature/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/search.html b/branch/feature/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/feature/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/feature/tutorials/index.html b/branch/feature/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/feature/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
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+
+ +
+
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+ +
+ +
+
+
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+ + + + \ No newline at end of file diff --git a/branch/feature/tutorials/simulator.html b/branch/feature/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/feature/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/feature/universalModule/index.html b/branch/feature/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/feature/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/_images/code.jpg b/branch/halExposeLessHeaders/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/halExposeLessHeaders/_images/code.jpg differ diff --git a/branch/halExposeLessHeaders/_images/connector_photo.jpg b/branch/halExposeLessHeaders/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/halExposeLessHeaders/_images/connector_photo.jpg differ diff --git a/branch/halExposeLessHeaders/_images/um_photo.jpg b/branch/halExposeLessHeaders/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/halExposeLessHeaders/_images/um_photo.jpg differ diff --git a/branch/halExposeLessHeaders/_sources/index.rst.txt b/branch/halExposeLessHeaders/_sources/index.rst.txt new file mode 100644 index 000000000..8b49f5308 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/index.rst.txt @@ -0,0 +1,45 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +=================== =================== =================== +|Getting Started|_ |RoFI HAL|_ +------------------- ------------------- ------------------- +`Getting Started`_ `RoFI HAL`_ +------------------- ------------------- ------------------- +|RoFI Library|_ |RoFICoM|_ |Universal Module|_ +------------------- ------------------- ------------------- +`RoFI Library`_ `RoFICoM`_ `Universal Module`_ +=================== =================== =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/halExposeLessHeaders/_sources/intro/compiling.rst.txt b/branch/halExposeLessHeaders/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/halExposeLessHeaders/_sources/intro/index.rst.txt b/branch/halExposeLessHeaders/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/halExposeLessHeaders/_sources/intro/structure.rst.txt b/branch/halExposeLessHeaders/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/halExposeLessHeaders/_sources/intro/suites/desktop.rst.txt b/branch/halExposeLessHeaders/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..a5f6f24a1 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,36 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/halExposeLessHeaders/_sources/intro/suites/doc.rst.txt b/branch/halExposeLessHeaders/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/halExposeLessHeaders/_sources/intro/testing.rst.txt b/branch/halExposeLessHeaders/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/halExposeLessHeaders/_sources/roficom/index.rst.txt b/branch/halExposeLessHeaders/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/halExposeLessHeaders/_sources/rofihal/index.rst.txt b/branch/halExposeLessHeaders/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/halExposeLessHeaders/_sources/rofilib/atoms/containers.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/halExposeLessHeaders/_sources/rofilib/atoms/index.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/halExposeLessHeaders/_sources/rofilib/atoms/patterns.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/halExposeLessHeaders/_sources/rofilib/atoms/resources.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/halExposeLessHeaders/_sources/rofilib/atoms/result.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/halExposeLessHeaders/_sources/rofilib/configuration.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..4fb43bd00 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,331 @@ +Configuration +============= + +Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks). + +Using the configuration is pretty straightforward. The main class is +:cpp:class:`Rofibot ` for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot's components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative). + +For example, let us create a small bot with two universal modules. + +.. code-block:: cpp + + #include + + // ... + + Rofibot bot; + // add universal module with id 42 in the default state + auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `bot` in hand, you can then prepare it (i.e., compute its positions) +and check for validity. + +.. code-block:: cpp + + bot.prepare(); + auto [ ok, err ] = bot.isValid( SimpleCollision() ); + if ( !ok ) + std::cerr << "invalid configuration: " << err << "\n"; + + // or you can shorten the above to + auto [ ok, err ] = bot.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto [ ok, err ] = bot.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::Rofibot + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Modules +------- + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration + +Serialization +------------- + +Configuration also supports serialization to and from `json `_ +format via functions `toJSON` and `fromJSON` respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +`nlohman::json `_ library. + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + Rofibot bot = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit – number >, + "max" : < upper-limit – number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, Rofibot::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/halExposeLessHeaders/_sources/rofilib/index.rst.txt b/branch/halExposeLessHeaders/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..560129115 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/rofilib/index.rst.txt @@ -0,0 +1,12 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + configuration + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/halExposeLessHeaders/_sources/tutorials/index.rst.txt b/branch/halExposeLessHeaders/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/halExposeLessHeaders/_sources/tutorials/simulator.md.txt b/branch/halExposeLessHeaders/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/halExposeLessHeaders/_sources/universalModule/index.rst.txt b/branch/halExposeLessHeaders/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/halExposeLessHeaders/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/halExposeLessHeaders/_static/basic.css b/branch/halExposeLessHeaders/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/halExposeLessHeaders/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + 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index 000000000..e1bfd708b --- /dev/null +++ b/branch/halExposeLessHeaders/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/halExposeLessHeaders/_static/documentation_options.js b/branch/halExposeLessHeaders/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/halExposeLessHeaders/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/halExposeLessHeaders/_static/file.png b/branch/halExposeLessHeaders/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/halExposeLessHeaders/_static/file.png differ diff --git a/branch/halExposeLessHeaders/_static/jquery-3.5.1.js b/branch/halExposeLessHeaders/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/halExposeLessHeaders/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/index.html b/branch/halExposeLessHeaders/index.html new file mode 100644 index 000000000..866a3decb --- /dev/null +++ b/branch/halExposeLessHeaders/index.html @@ -0,0 +1,260 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

RoFI HAL

Getting Started

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/intro/compiling.html b/branch/halExposeLessHeaders/intro/compiling.html new file mode 100644 index 000000000..8c312444f --- /dev/null +++ b/branch/halExposeLessHeaders/intro/compiling.html @@ -0,0 +1,384 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/intro/index.html b/branch/halExposeLessHeaders/intro/index.html new file mode 100644 index 000000000..e84a3df88 --- /dev/null +++ b/branch/halExposeLessHeaders/intro/index.html @@ -0,0 +1,165 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/intro/structure.html b/branch/halExposeLessHeaders/intro/structure.html new file mode 100644 index 000000000..f1d9bb617 --- /dev/null +++ b/branch/halExposeLessHeaders/intro/structure.html @@ -0,0 +1,159 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/intro/suites/desktop.html b/branch/halExposeLessHeaders/intro/suites/desktop.html new file mode 100644 index 000000000..48b09f779 --- /dev/null +++ b/branch/halExposeLessHeaders/intro/suites/desktop.html @@ -0,0 +1,166 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/intro/suites/doc.html b/branch/halExposeLessHeaders/intro/suites/doc.html new file mode 100644 index 000000000..8d2e03b20 --- /dev/null +++ b/branch/halExposeLessHeaders/intro/suites/doc.html @@ -0,0 +1,153 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/intro/testing.html b/branch/halExposeLessHeaders/intro/testing.html new file mode 100644 index 000000000..d63c1c534 --- /dev/null +++ b/branch/halExposeLessHeaders/intro/testing.html @@ -0,0 +1,182 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/objects.inv b/branch/halExposeLessHeaders/objects.inv new file mode 100644 index 000000000..3a564e22e Binary files /dev/null and b/branch/halExposeLessHeaders/objects.inv differ diff --git a/branch/halExposeLessHeaders/roficom/index.html b/branch/halExposeLessHeaders/roficom/index.html new file mode 100644 index 000000000..314d4e6b1 --- /dev/null +++ b/branch/halExposeLessHeaders/roficom/index.html @@ -0,0 +1,113 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofihal/index.html b/branch/halExposeLessHeaders/rofihal/index.html new file mode 100644 index 000000000..b9e19e731 --- /dev/null +++ b/branch/halExposeLessHeaders/rofihal/index.html @@ -0,0 +1,1059 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/atoms/containers.html b/branch/halExposeLessHeaders/rofilib/atoms/containers.html new file mode 100644 index 000000000..44e558890 --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/atoms/containers.html @@ -0,0 +1,327 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/atoms/index.html b/branch/halExposeLessHeaders/rofilib/atoms/index.html new file mode 100644 index 000000000..ef611eced --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/atoms/index.html @@ -0,0 +1,153 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/atoms/patterns.html b/branch/halExposeLessHeaders/rofilib/atoms/patterns.html new file mode 100644 index 000000000..bede742de --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/atoms/patterns.html @@ -0,0 +1,458 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/atoms/resources.html b/branch/halExposeLessHeaders/rofilib/atoms/resources.html new file mode 100644 index 000000000..a4f9382a3 --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/atoms/resources.html @@ -0,0 +1,233 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/atoms/result.html b/branch/halExposeLessHeaders/rofilib/atoms/result.html new file mode 100644 index 000000000..d69f4a442 --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/atoms/result.html @@ -0,0 +1,905 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both *this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/configuration.html b/branch/halExposeLessHeaders/rofilib/configuration.html new file mode 100644 index 000000000..4e47037cc --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/configuration.html @@ -0,0 +1,1409 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +Rofibot for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot’s components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative).

+

For example, let us create a small bot with two universal modules.

+
#include <configuration/rofibot.hpp>
+
+// ...
+
+Rofibot bot;
+// add universal module with id 42 in the default state
+auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the bot in hand, you can then prepare it (i.e., compute its positions) +and check for validity.

+
bot.prepare();
+auto [ ok, err ] = bot.isValid( SimpleCollision() );
+if ( !ok )
+    std::cerr << "invalid configuration: " << err << "\n";
+
+// or you can shorten the above to
+auto [ ok, err ] = bot.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto [ ok, err ] = bot.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator UmShoe
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator Roficom
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class Rofibot
+

RoFI bot.

+

The rofibot is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+Rofibot() = default
+
+ +
+
+inline Rofibot(const Rofibot &other)
+
+ +
+
+inline Rofibot(Rofibot &&other)
+
+ +
+
+inline Rofibot &operator=(Rofibot other)
+
+ +
+
+inline void swap(Rofibot &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the Rofibot.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+void prepare()
+

Precompute position of all the modules in the configuration.

+

Raises std::runtime_error if the configuration is inconsistent, and, therefore, it cannot be

+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its parental rofibot, if it’s in use, the ID is left the same and the method returns False. Otherwise the ID is changed. Returns True on success.

+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+inline void prepare()
+

Precompute component relative positions.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+Rofibot *parent
+

pointer to parenting Rofibot

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, Rofibot::ModuleInfoHandle sourceModule, Rofibot::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getSourceModule(const Rofibot &rofibot) const
+
+ +
+
+inline Module &getDestModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getDestModule(const Rofibot &rofibot) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+Rofibot::ModuleInfoHandle sourceModule
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same Rofibot that can be connected to.

+

Returns the connector and orientation Returns nullopt if no such connector exists

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, Rofibot::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Types

+
+
+enum UmParts
+

Values:

+
+
+enumerator UmBodyA
+
+ +
+
+enumerator UmBodyB
+
+ +
+
+enumerator UmShoeA
+
+ +
+
+enumerator UmShoeB
+
+ +
+ +
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline const auto &getConnector(const std::string &cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(const std::string &cStr)
+
+ +
+
+static std::string translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+Rofibot::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+

Requires that both modules belong to the same Rofibot, otherwise std::logic_error is thrown.

+
+ +
+
+template<typename JointT, typename ...Args>
Rofibot::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+

First argument specified the component, the rest of the arguments are forwarded

+

Returns ID of the joint which can be used for setting parameters of the joint

+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+Rofibot bot = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot, Callback attrCb)
+

Serialize given Rofibot to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot)
+
+ +
+
+template<typename Callback>
inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a Rofibot from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a Rofibot

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, Rofibot::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/rofilib/index.html b/branch/halExposeLessHeaders/rofilib/index.html new file mode 100644 index 000000000..2db289b72 --- /dev/null +++ b/branch/halExposeLessHeaders/rofilib/index.html @@ -0,0 +1,160 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/search.html b/branch/halExposeLessHeaders/search.html new file mode 100644 index 000000000..0eaab93c3 --- /dev/null +++ b/branch/halExposeLessHeaders/search.html @@ -0,0 +1,124 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/searchindex.js b/branch/halExposeLessHeaders/searchindex.js new file mode 100644 index 000000000..ecc3ee6c8 --- /dev/null +++ b/branch/halExposeLessHeaders/searchindex.js @@ -0,0 +1 @@ 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pecifi:[1,6,11,12,13,14,17],speed:[6,8],spheric:14,sphinx:5,split:17,ssh:2,stabl:11,stack:1,standard:[1,9,17],start:[0,2,6,8,12,17],state:[1,8,14],static_cast:13,statu:8,std:[8,9,11,12,13,14,17],stderr:6,stdout:6,step:1,stl:1,stm32:1,stodest:14,stop:17,store:[9,11,14,17],str:13,straightforward:14,string:[8,11,12,13,14],struct:[8,11,13,14],structur:[0,11],studi:3,subclass:14,success:14,successor:11,suit:[0,2,6,17],suitabl:[13,14],suitenam:[1,6],support:14,suppos:9,sure:[1,17],swap:[8,9,11,14],symbol:12,synchron:17,system:[4,5,14],t:[6,9,11,13,17],tab:[1,6],take:[8,11,14],target:[0,2,3,6],target_link_librari:17,task:[0,11,16],teardown:1,tediou:11,templat:[9,11,13,14],temporari:12,termin:1,test:[0,1,2,12,17],test_file_bmp:12,testtargetnam:6,text:14,textual:14,textur:12,thei:[1,10,17],them:[1,6,11,14],theme:5,theori:10,therefor:[1,11,12,14],thi:[0,1,2,3,4,5,6,8,9,11,12,13,14,17],think:[1,17],thread:17,three:[8,14],throughout:15,thrown:14,thu:[1,4],tidi:1,time:[9,17],to_str:13,togeth:17,tojson:14,too:14,tool:[1,3,4,5],top:4,topic:0,topology2dot:1,torqu:8,trace:1,tradit:11,transform:[13,14],transform_error:13,translat:14,translatecompon:14,tree:1,true_typ:13,ts:11,tutori:[0,1,3,6],twice:6,two:[1,13,14,17],two_modul:1,txt:17,type:[0,1,9,11,13,15],typedef:8,typenam:[9,11,13,14],typeplacehold:13,typevisitor:11,typic:11,uint16_t:8,uint8_t:8,um:14,umbodi:14,umbodya:14,umbodyb:14,umpart:14,umsho:14,umshoea:14,umshoeb:14,unconfigur:1,under:1,underli:1,underscor:12,uniqu:[8,9,12,14],unique_ptr:11,unit:[1,6],univers:[0,3,14,16],universalmodul:[3,14],unknown:14,unknownmodul:14,unnecessari:11,unsign:13,unus:9,up:[1,2,4,6],updat:17,upper:14,us:[1,3,4,5,6,8,9,10,11,12,13,14,15,17],usag:[0,1,10,14,15],usecas:13,user:[6,12,13,14],usual:[1,6,12],util:[10,13],v:1,val:13,valid:[12,14],valu:[8,9,11,13,14,17],value0:13,value42:13,value_or:13,value_typ:[8,9,13],valueptr:[0,10,14,15],valuet:13,variabl:[1,17],variant:13,variou:[1,14],vector:[9,13,14],veloc:8,verbos:1,version:[0,1,17],vi:[1,13],via:[1,4,5,6,8,9,11,12,14],video:3,view:14,virtual:[8,11,14],visit:[11,14],visitablebas:[11,14],visitor:[0,10,15],visitortyp:11,visual:[1,4],voltag:8,vtk:[4,12],wa:12,wai:[11,13,14,17],wait:[8,17],walkthrough:[0,16],want:[1,11,14],we:[1,2,3,6,11,14],welcom:2,well:13,went:6,were:14,west:[8,14],what:[6,11,17],when:[1,8,11,12,13,14,17],whenev:1,where:[1,14,17],whether:[3,4,13,14,17],which:[1,8,9,11,12,14,17],whole:[3,6],width:14,wikipedia:11,window:1,within:14,without:[6,11,12],won:[11,17],work:[1,3,8,11,12,13,14,17],worktre:1,world:[0,1,16],would:1,wrapper:8,write:[0,2,14],written:[6,14],wrong:6,x:[12,14,17],y:17,you:[0,1,2,3,5,6,8,9,11,12,13,14,17],your:[0,1,6,8,11,12,14,16],z3:4,z:17,zero:[6,8],zip:1},titles:["RoFI - Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":17,"1":17,"2":17,"3":17,"4":17,"5":17,"6":17,"class":[8,9,12,13,14],"function":[13,14],advanc:1,atom:10,attribut:14,build:[1,4,5],c:6,callback:14,cloneabl:11,code:[1,17],commun:17,compil:[1,2,17],configur:[1,14,17],constant:[8,14],contain:9,content:0,creat:17,depend:[4,5],desktop:4,document:[0,5],embed:12,environ:1,exampl:1,filter:17,flash:1,folder:17,gazebosim:1,hal:8,hardwar:1,hello:17,hiearchi:11,introduct:2,macro:12,manag:12,modul:[1,14,17,18],move:17,multipl:17,network:8,object:11,option:[4,5],packet:17,pattern:11,process:1,project:3,quick:1,refer:[9,12,13],resourc:12,result:13,robot:1,rofi:[0,1,8],roficom:7,rofilib:15,run:[6,17],same:17,serial:14,setup:17,simplesim:[1,17],simul:[1,17],solut:17,start:1,structur:[2,3],suit:[1,4,5],target:1,task:17,technic:0,test:6,tutori:[16,17],type:[8,14],univers:[17,18],usag:[12,13],valueptr:11,visitor:11,walkthrough:17,world:17,write:6,your:17}}) \ No newline at end of file diff --git a/branch/halExposeLessHeaders/tutorials/index.html b/branch/halExposeLessHeaders/tutorials/index.html new file mode 100644 index 000000000..25110543b --- /dev/null +++ b/branch/halExposeLessHeaders/tutorials/index.html @@ -0,0 +1,152 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
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+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/tutorials/simulator.html b/branch/halExposeLessHeaders/tutorials/simulator.html new file mode 100644 index 000000000..8be4538a8 --- /dev/null +++ b/branch/halExposeLessHeaders/tutorials/simulator.html @@ -0,0 +1,409 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
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+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/halExposeLessHeaders/universalModule/index.html b/branch/halExposeLessHeaders/universalModule/index.html new file mode 100644 index 000000000..0114687ac --- /dev/null +++ b/branch/halExposeLessHeaders/universalModule/index.html @@ -0,0 +1,111 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/_images/code.jpg b/branch/hexapod/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/hexapod/_images/code.jpg differ diff --git a/branch/hexapod/_images/connector_photo.jpg b/branch/hexapod/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/hexapod/_images/connector_photo.jpg differ diff --git a/branch/hexapod/_images/um_photo.jpg b/branch/hexapod/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/hexapod/_images/um_photo.jpg differ diff --git a/branch/hexapod/_sources/index.rst.txt b/branch/hexapod/_sources/index.rst.txt new file mode 100644 index 000000000..9f0696d86 --- /dev/null +++ b/branch/hexapod/_sources/index.rst.txt @@ -0,0 +1,41 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +================== =================== ================== +|Getting Started|_ +------------------ ------------------- ------------------ +`Getting Started`_ +------------------ ------------------- ------------------ +|RoFICoM|_ |Universal Module|_ |RoFI Library|_ +------------------ ------------------- ------------------ +`RoFICoM`_ `Universal Module`_ `RoFI Library`_ +================== =================== ================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + roficom/index + rofilib/index + universalModule/index + rofisim/index diff --git a/branch/hexapod/_sources/intro/compiling.rst.txt b/branch/hexapod/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..57144a987 --- /dev/null +++ b/branch/hexapod/_sources/intro/compiling.rst.txt @@ -0,0 +1,209 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh -f Release + +This will setup your current shell for RoFI. This is indicated by a robot icon +prepended to you prompt: + +.. code-block:: sh + + 🤖R $ + +If you don't want to alter you shell, simply omit ``-f``. The letter after the +robot icon indicates which configuration is currently active. If you want to +change the configuration, simply invoke ``source setup.sh -f Debug`` to e.g., +switch to a debug configuration. Or invoke ``teardown`` to return your shell to +original state. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **firmware**: Firmware for the microcontrollers on hardware modules. This + does not include the RoFI programs. Think of this as the part of the + hardware, that just have to be build separately. + +- **rofiFirmware**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + 🤖R $ rcfg desktop firmware # Setup desktop and firmware suites + 🤖R $ rcfg --all # Setup all suites + 🤖R $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + 🤖R $ rmake desktop # Compile all targets from the suite desktop + 🤖R $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + 🤖R $ rmake tools/ # Compile all targets that are in the source tree under prefix + 🤖R $ rmake tools/ doc # You can mix various types of targets + 🤖R $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +.. _example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh -f Debug # Setup your terminal for compiling RoFI in Debug mode. + # Your prompt will change to indicate the environment + 🤖R $ rcfg desktop doc # Configure the suites you want + 🤖R $ rmake --all # Build everything you have configured + 🤖R $ rmake tools/ # ... or build only all tools + 🤖R $ rofi-vis # Run the compiled tool + + +Quick start GazeboSim example +------------------------------ + +To quickly start with simulating RoFI using GazeboSim, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh -f Debug # Setup your terminal for compiling RoFI in Debug mode. + # This also sets the necessary gazebo variables + 🤖 D $ rcfg desktop # Configure the desktop suite + 🤖 D $ rmake --all # Build everything you have configured + 🤖 D $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +In a different terminal, run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh -f Debug # Setup your terminal + 🤖 D $ basicJointPosition # Run the compiled module code diff --git a/branch/hexapod/_sources/intro/index.rst.txt b/branch/hexapod/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/hexapod/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/hexapod/_sources/intro/structure.rst.txt b/branch/hexapod/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..88bdbe2fc --- /dev/null +++ b/branch/hexapod/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareModules``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalPhys``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation + diff --git a/branch/hexapod/_sources/intro/suites/desktop.rst.txt b/branch/hexapod/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..5be41ccad --- /dev/null +++ b/branch/hexapod/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,35 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=9 `__: for APT-based system, install + ``libgazebo9-dev`` +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I. e., does not compile visualizer nor rofi-app. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. \ No newline at end of file diff --git a/branch/hexapod/_sources/intro/suites/doc.rst.txt b/branch/hexapod/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..a721c05fb --- /dev/null +++ b/branch/hexapod/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,24 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, Recommonmark, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe sphinx-rtd-theme recommonmark + + +Build options +------------- + +There are no build options. \ No newline at end of file diff --git a/branch/hexapod/_sources/intro/testing.rst.txt b/branch/hexapod/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/hexapod/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/hexapod/_sources/roficom/index.rst.txt b/branch/hexapod/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..829fa120c --- /dev/null +++ b/branch/hexapod/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFiCoM +======= + diff --git a/branch/hexapod/_sources/rofilib/atoms/containers.rst.txt b/branch/hexapod/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..be90401ea --- /dev/null +++ b/branch/hexapod/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::IdSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::IdSet + :project: lib \ No newline at end of file diff --git a/branch/hexapod/_sources/rofilib/atoms/index.rst.txt b/branch/hexapod/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..62eb7f2a2 --- /dev/null +++ b/branch/hexapod/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,13 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + resources + containers \ No newline at end of file diff --git a/branch/hexapod/_sources/rofilib/atoms/patterns.rst.txt b/branch/hexapod/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..649df005f --- /dev/null +++ b/branch/hexapod/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib \ No newline at end of file diff --git a/branch/hexapod/_sources/rofilib/atoms/resources.rst.txt b/branch/hexapod/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..b45de79ab --- /dev/null +++ b/branch/hexapod/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embded Resources Management +=========================== + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib \ No newline at end of file diff --git a/branch/hexapod/_sources/rofilib/configuration.rst.txt b/branch/hexapod/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..a8a638986 --- /dev/null +++ b/branch/hexapod/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,42 @@ +Configuration +============= + +Here you are supposed to say the general idea behind the configuration +representation and also list its capabilities. (e.g., you create and instance, +put modules, then you have to compute the matrix, etc.) + +Feel free to add code examples. + + +Types and Constants +------------------- + +.. doxygentypedef:: ID + :project: lib + +.. doxygenenum:: Joint + :project: lib + +.. doxygenenum:: ShoeId + :project: lib + +.. doxygenenum:: ConnectorId + :project: lib + +.. doxygenenum:: Orientation + :project: lib + +Classes +------- + +.. doxygenclass:: Module + :project: lib + +.. doxygenclass:: Edge + :project: lib + +.. doxygenclass:: Action + :project: lib + +.. doxygenclass:: Configuration + :project: lib \ No newline at end of file diff --git a/branch/hexapod/_sources/rofilib/index.rst.txt b/branch/hexapod/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..472d0194a --- /dev/null +++ b/branch/hexapod/_sources/rofilib/index.rst.txt @@ -0,0 +1,8 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + atoms/index + configuration \ No newline at end of file diff --git a/branch/hexapod/_sources/rofisim/index.rst.txt b/branch/hexapod/_sources/rofisim/index.rst.txt new file mode 100644 index 000000000..9836a54c1 --- /dev/null +++ b/branch/hexapod/_sources/rofisim/index.rst.txt @@ -0,0 +1,5 @@ +RoFISim +========= + +.. toctree:: + rofihal diff --git a/branch/hexapod/_sources/rofisim/rofihal.rst.txt b/branch/hexapod/_sources/rofisim/rofihal.rst.txt new file mode 100644 index 000000000..1948e17e8 --- /dev/null +++ b/branch/hexapod/_sources/rofisim/rofihal.rst.txt @@ -0,0 +1,45 @@ +======== +RoFI Hal +======== + +This is the same hal as for the physical RoFI. + + +Types and Constants +=================== + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: sim + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: sim + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: sim + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: sim + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: sim + + +Classes +======= + +.. doxygenclass:: rofi::hal::RoFI + :project: sim + +.. doxygenclass:: rofi::hal::Joint + :project: sim + +.. doxygenclass:: rofi::hal::Connector + :project: sim + + +Networking +========== + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/hexapod/_sources/universalModule/index.rst.txt b/branch/hexapod/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/hexapod/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/hexapod/_static/basic.css b/branch/hexapod/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/hexapod/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : break-word; +} + +div.sphinxsidebar ul { + list-style: none; +} + +div.sphinxsidebar ul ul, +div.sphinxsidebar ul.want-points { + margin-left: 20px; + list-style: square; +} + +div.sphinxsidebar ul ul { + margin-top: 0; + margin-bottom: 0; +} + +div.sphinxsidebar form { + margin-top: 10px; +} + +div.sphinxsidebar input { + border: 1px solid #98dbcc; + font-family: sans-serif; + font-size: 1em; +} + +div.sphinxsidebar #searchbox form.search { + overflow: hidden; +} + +div.sphinxsidebar #searchbox input[type="text"] { + float: left; + width: 80%; + padding: 0.25em; + box-sizing: border-box; +} + +div.sphinxsidebar #searchbox input[type="submit"] { + float: left; + width: 20%; + border-left: none; + padding: 0.25em; + box-sizing: border-box; +} + + +img { + border: 0; + max-width: 100%; +} + +/* -- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li p.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; + margin-left: auto; + margin-right: auto; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable ul { + margin-top: 0; + margin-bottom: 0; + list-style-type: none; +} + +table.indextable > tbody > tr > td > ul { + padding-left: 0em; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- domain module index --------------------------------------------------- */ + +table.modindextable td { + padding: 2px; + border-collapse: collapse; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body { + min-width: 450px; + max-width: 800px; +} + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +a.brackets:before, +span.brackets > a:before{ + content: "["; +} + +a.brackets:after, +span.brackets > a:after { + content: "]"; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, 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+ text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar, +aside.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px; + background-color: #ffe; + width: 40%; + float: right; + clear: right; + overflow-x: auto; +} + +p.sidebar-title { + font-weight: bold; +} + +div.admonition, div.topic, blockquote { + clear: left; +} + +/* -- topics ---------------------------------------------------------------- */ + +div.topic { + border: 1px solid #ccc; + padding: 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- content of sidebars/topics/admonitions -------------------------------- */ + +div.sidebar > :last-child, +aside.sidebar > :last-child, +div.topic > :last-child, +div.admonition > :last-child { + margin-bottom: 0; +} + +div.sidebar::after, +aside.sidebar::after, +div.topic::after, +div.admonition::after, +blockquote::after { + display: block; + content: ''; + clear: both; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + margin-top: 10px; + margin-bottom: 10px; + border: 0; + border-collapse: collapse; +} + +table.align-center { + margin-left: auto; + margin-right: auto; +} + +table.align-default { + margin-left: auto; + margin-right: auto; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +table.footnote td, table.footnote th { + border: 0 !important; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +th > :first-child, +td > :first-child { + margin-top: 0px; +} + +th > :last-child, +td > :last-child { + margin-bottom: 0px; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure, figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption, figcaption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number, +figcaption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text, +figcaption span.caption-text { +} + +/* -- field list styles ----------------------------------------------------- */ + +table.field-list td, table.field-list th { + border: 0 !important; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +/* -- hlist styles ---------------------------------------------------------- */ + +table.hlist { + margin: 1em 0; +} + +table.hlist td { + vertical-align: top; +} + +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +:not(li) > ol > li:first-child > :first-child, +:not(li) > ul > li:first-child > :first-child { + margin-top: 0px; +} + +:not(li) > ol > li:last-child > :last-child, +:not(li) > ul > li:last-child > :last-child { + margin-bottom: 0px; +} + +ol.simple ol p, +ol.simple ul p, +ul.simple ol p, +ul.simple ul p { + margin-top: 0; +} + +ol.simple > li:not(:first-child) > p, +ul.simple > li:not(:first-child) > p { + margin-top: 0; +} + +ol.simple p, +ul.simple p { + margin-bottom: 0; +} + +dl.footnote > dt, +dl.citation > dt { + float: left; + margin-right: 0.5em; +} + +dl.footnote > dd, +dl.citation > dd { + margin-bottom: 0em; +} + +dl.footnote > dd:after, +dl.citation > dd:after { + content: ""; + clear: both; +} + +dl.field-list { + display: grid; + grid-template-columns: fit-content(30%) auto; +} + +dl.field-list > dt { + font-weight: bold; + word-break: break-word; + padding-left: 0.5em; + padding-right: 5px; +} + +dl.field-list > dt:after { + content: ":"; +} + +dl.field-list > dd { + padding-left: 0.5em; + margin-top: 0em; + margin-left: 0em; + margin-bottom: 0em; +} + +dl { + margin-bottom: 15px; +} + +dd > :first-child { + margin-top: 0px; +} + +dd ul, dd table { + margin-bottom: 10px; +} + +dd { + margin-top: 3px; + margin-bottom: 10px; + margin-left: 30px; +} + +dl > dd:last-child, +dl > dd:last-child > :last-child { + margin-bottom: 0; +} + 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--- /dev/null +++ b/branch/hexapod/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/hexapod/_static/documentation_options.js b/branch/hexapod/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/hexapod/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/hexapod/_static/file.png b/branch/hexapod/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/hexapod/_static/file.png differ diff --git a/branch/hexapod/_static/jquery-3.5.1.js b/branch/hexapod/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/hexapod/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | C + | E + | I + | J + | L + | M + | R + | S + +
+

A

+ + + +
+ +

C

+ + + +
+ +

E

+ + + +
+ +

I

+ + +
+ +

J

+ + + +
+ +

L

+ + +
+ +

M

+ + + +
+ +

R

+ + + +
+ +

S

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/index.html b/branch/hexapod/index.html new file mode 100644 index 000000000..9b8f52702 --- /dev/null +++ b/branch/hexapod/index.html @@ -0,0 +1,210 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Getting Started

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

RoFI Library

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/intro/compiling.html b/branch/hexapod/intro/compiling.html new file mode 100644 index 000000000..21f452e5c --- /dev/null +++ b/branch/hexapod/intro/compiling.html @@ -0,0 +1,304 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh -f Release
+
+
+

This will setup your current shell for RoFI. This is indicated by a robot icon +prepended to you prompt:

+
🤖R $
+
+
+

If you don’t want to alter you shell, simply omit -f. The letter after the +robot icon indicates which configuration is currently active. If you want to +change the configuration, simply invoke source setup.sh -f Debug to e.g., +switch to a debug configuration. Or invoke teardown to return your shell to +original state.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • firmware: Firmware for the microcontrollers on hardware modules. This +does not include the RoFI programs. Think of this as the part of the +hardware, that just have to be build separately.

    • +

  • rofiFirmware: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
🤖R $ rcfg desktop firmware # Setup desktop and firmware suites
+🤖R $ rcfg --all            # Setup all suites
+🤖R $ rcfg -desktop         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
🤖R $ rmake desktop  # Compile all targets from the suite desktop
+🤖R $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies)
+🤖R $ rmake tools/   # Compile all targets that are in the source tree under prefix
+🤖R $ rmake tools/ doc  # You can mix various types of targets
+🤖R $ rmake --all       # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh -f Debug # Setup your terminal for compiling RoFI in Debug mode.
+                           # Your prompt will change to indicate the environment
+🤖R $ rcfg desktop doc     # Configure the suites you want
+🤖R $ rmake --all          # Build everything you have configured
+🤖R $ rmake tools/         # ... or build only all tools
+🤖R $ rofi-vis             # Run the compiled tool
+
+
+
+
+

Quick start GazeboSim example

+

To quickly start with simulating RoFI using GazeboSim, we provide a short step-by-step guide:

+
$ source setup.sh -f Debug                       # Setup your terminal for compiling RoFI in Debug mode.
+                                                 # This also sets the necessary gazebo variables
+🤖 D $ rcfg desktop                              # Configure the desktop suite
+🤖 D $ rmake --all                               # Build everything you have configured
+🤖 D $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+

In a different terminal, run the module code for each module that you want to control:

+
$ source setup.sh -f Debug # Setup your terminal
+🤖 D $ basicJointPosition  # Run the compiled module code
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/intro/index.html b/branch/hexapod/intro/index.html new file mode 100644 index 000000000..e1e5e1267 --- /dev/null +++ b/branch/hexapod/intro/index.html @@ -0,0 +1,157 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/intro/structure.html b/branch/hexapod/intro/structure.html new file mode 100644 index 000000000..dff38249b --- /dev/null +++ b/branch/hexapod/intro/structure.html @@ -0,0 +1,155 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareModules: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalPhys: The hardware abstraction layer for +RoFI modules.

      • +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/intro/suites/desktop.html b/branch/hexapod/intro/suites/desktop.html new file mode 100644 index 000000000..a5ec3176a --- /dev/null +++ b/branch/hexapod/intro/suites/desktop.html @@ -0,0 +1,162 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=9: for APT-based system, install +libgazebo9-dev

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I. e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/intro/suites/doc.html b/branch/hexapod/intro/suites/doc.html new file mode 100644 index 000000000..f7c585b32 --- /dev/null +++ b/branch/hexapod/intro/suites/doc.html @@ -0,0 +1,146 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, Recommonmark, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe sphinx-rtd-theme recommonmark
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/intro/testing.html b/branch/hexapod/intro/testing.html new file mode 100644 index 000000000..c0bd29362 --- /dev/null +++ b/branch/hexapod/intro/testing.html @@ -0,0 +1,181 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/objects.inv b/branch/hexapod/objects.inv new file mode 100644 index 000000000..af4e5bf5b Binary files /dev/null and b/branch/hexapod/objects.inv differ diff --git a/branch/hexapod/roficom/index.html b/branch/hexapod/roficom/index.html new file mode 100644 index 000000000..c5c574e81 --- /dev/null +++ b/branch/hexapod/roficom/index.html @@ -0,0 +1,112 @@ + + + + + + + RoFiCoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFiCoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofilib/atoms/containers.html b/branch/hexapod/rofilib/atoms/containers.html new file mode 100644 index 000000000..c9d0828dc --- /dev/null +++ b/branch/hexapod/rofilib/atoms/containers.html @@ -0,0 +1,273 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::IdSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class IdSet
+

std::vector-based set representation providing reusable integer ids for the inserted elements.

+

You are supposed to insert elements via IdSet::insert(), which returns unique element ID. Then you can acces this element using IdSet::operator[]() or erase it using IdSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using id_type = size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(IdSet &other)
+
+ +
+
+inline size_type size() const
+
+ +
+
+inline void shrink_to_fit()
+
+ +
+
+inline id_type insert(const T &value)
+

Insert new element and get its ID.

+
+ +
+
+inline id_type insert(T &&value)
+

Insert new element and get its ID.

+
+ +
+
+inline void erase(id_type id)
+

Erase element based on its ID.

+
+ +
+
+inline iterator begin() noexcept
+
+ +
+
+inline const_iterator begin() const noexcept
+
+ +
+
+inline const_iterator cbegin() const noexcept
+
+ +
+
+inline iterator end() noexcept
+
+ +
+
+inline const_iterator end() const noexcept
+
+ +
+
+inline const_iterator cend() const noexcept
+
+ +
+
+inline const_reference operator[](id_type id) const
+

Access element based on its ID.

+
+ +
+
+inline reference operator[](id_type id)
+

Access element based on its ID.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofilib/atoms/index.html b/branch/hexapod/rofilib/atoms/index.html new file mode 100644 index 000000000..0488e5317 --- /dev/null +++ b/branch/hexapod/rofilib/atoms/index.html @@ -0,0 +1,145 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofilib/atoms/patterns.html b/branch/hexapod/rofilib/atoms/patterns.html new file mode 100644 index 000000000..697374fd0 --- /dev/null +++ b/branch/hexapod/rofilib/atoms/patterns.html @@ -0,0 +1,436 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType &visitor)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to provide stable address or to allow virtual function calls) and provide deep copies.

+

It requires that T provides T *clone() const.

+
+

Public Functions

+
+
+inline ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline ValuePtr(const T &t)
+
+ +
+
+inline ValuePtr(const ValuePtr<T> &other)
+
+ +
+
+inline ValuePtr<T> &operator=(const ValuePtr<T> &other)
+
+ +
+
+inline ValuePtr(ValuePtr<T> &&other) noexcept
+
+ +
+
+inline ValuePtr<T> &operator=(ValuePtr<T> &&other)
+
+ +
+
+inline std::add_lvalue_reference<T>::type operator*() const
+
+ +
+
+inline auto operator->() const
+
+ +
+
+inline auto get() const
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofilib/atoms/resources.html b/branch/hexapod/rofilib/atoms/resources.html new file mode 100644 index 000000000..8b3c835ff --- /dev/null +++ b/branch/hexapod/rofilib/atoms/resources.html @@ -0,0 +1,231 @@ + + + + + + + Embded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, int count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, int count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofilib/configuration.html b/branch/hexapod/rofilib/configuration.html new file mode 100644 index 000000000..4c0932cb3 --- /dev/null +++ b/branch/hexapod/rofilib/configuration.html @@ -0,0 +1,705 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Here you are supposed to say the general idea behind the configuration +representation and also list its capabilities. (e.g., you create and instance, +put modules, then you have to compute the matrix, etc.)

+

Feel free to add code examples.

+
+

Types and Constants

+
+
+using ID = int
+
+ +
+
+enum Joint
+

Values:

+
+
+enumerator Alpha
+
+ +
+
+enumerator Beta
+
+ +
+
+enumerator Gamma
+
+ +
+ +
+
+enum ShoeId
+

Values:

+
+
+enumerator A
+
+ +
+
+enumerator B
+
+ +
+ +
+
+enum ConnectorId
+

Values:

+
+
+enumerator XPlus
+
+ +
+
+enumerator XMinus
+
+ +
+
+enumerator ZMinus
+
+ +
+ +
+
+enum class rofi::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class Module
+

Subclassed by DistributedModuleProperties

+
+

Public Functions

+
+
+inline Module(double alpha, double beta, double gamma, ID id)
+
+ +
+
+inline ID getId() const
+
+ +
+
+double getJoint(Joint a) const
+
+ +
+
+bool rotateJoint(Joint joint, double val)
+

Rotates joint.

+

Failure (returning false) in this method leaves the joint unchanged.

+

+Throws error if joint is not in enum

+
+
Returns
+

false if adding val makes value of joint overflow out of accepted range.

+
+
+
+ +
+
+bool setJoint(Joint joint, double val)
+

Sets joint.

+

+Throws error if joint is not in enum

+
+
Returns
+

false if val wasn’t in accepted range and thus value of joint wasn’t changed

+
+
+
+ +
+
+bool operator==(const Module &other) const
+
+ +
+
+ +
+
+class Edge
+
+

Public Functions

+
+
+inline Edge(ID id1, ShoeId side1, ConnectorId dock1, unsigned int ori, ConnectorId dock2, ShoeId side2, ID id2, double onCoeff = 1)
+
+ +
+
+inline ID id1() const
+
+ +
+
+inline ID id2() const
+
+ +
+
+inline ShoeId side1() const
+
+ +
+
+inline ShoeId side2() const
+
+ +
+
+inline ConnectorId dock1() const
+
+ +
+
+inline ConnectorId dock2() const
+
+ +
+
+inline unsigned int ori() const
+
+ +
+
+inline double onCoeff() const
+
+ +
+
+inline void setOnCoeff(double value)
+
+ +
+
+bool operator==(const Edge &other) const
+
+ +
+
+inline bool operator!=(const Edge &other) const
+
+ +
+
+ +
+
+class Action
+
+

Public Functions

+
+
+inline Action(std::vector<Rotate> rot, std::vector<Reconnect> rec)
+
+ +
+
+inline Action(const Rotate &rot)
+
+ +
+
+inline Action(const Reconnect &rec)
+
+ +
+
+Action divide(double factor) const
+
+ +
+
+inline std::vector<Rotate> rotations() const
+
+ +
+
+inline std::vector<Reconnect> reconnections() const
+
+ +
+
+inline bool empty() const
+
+ +
+
+
+class Reconnect
+
+

Public Functions

+
+
+inline Reconnect()
+
+ +
+
+inline Reconnect(bool add, const Edge &edge)
+
+ +
+
+inline bool add() const
+
+ +
+
+inline Edge edge() const
+
+ +
+
+bool operator==(const Reconnect &other) const
+
+ +
+
+inline bool operator!=(const Reconnect &other) const
+
+ +
+
+ +
+
+class Rotate
+
+

Public Functions

+
+
+inline Rotate()
+
+ +
+
+inline Rotate(ID id, Joint joint, double angle)
+
+ +
+
+inline ID id() const
+
+ +
+
+inline Joint joint() const
+
+ +
+
+inline double angle() const
+
+ +
+
+bool operator==(const Rotate &other) const
+
+ +
+
+inline bool operator!=(const Rotate &other) const
+
+ +
+
+ +
+ +
+
+class Configuration
+
+

Public Functions

+
+
+inline bool empty() const
+
+ +
+
+inline ModuleMap &getModules()
+
+ +
+
+inline const ModuleMap &getModules() const
+
+ +
+
+inline const EdgeMap &getEdges() const
+
+ +
+
+inline const MatrixMap &getMatrices() const
+
+ +
+
+inline ID getFixedId() const
+
+ +
+
+inline ShoeId getFixedSide() const
+
+ +
+
+Module &getModule(ID id)
+
+ +
+
+const Module &getModule(ID id) const
+
+ +
+
+std::vector<ID> getIDs() const
+
+ +
+
+std::vector<Edge> getEdges(ID id) const
+
+ +
+
+std::vector<Edge> getEdges(ID id, const std::unordered_set<ID> &exclude) const
+
+ +
+
+const std::unordered_map<ID, std::array<std::optional<Edge>, 6>> getSpanningSucc() const
+
+ +
+
+const std::unordered_map<ID, unsigned int> &getSpanningSuccCount() const
+
+ +
+
+const std::unordered_map<ID, std::optional<std::pair<ID, ShoeId>>> &getSpanningPred() const
+
+ +
+
+void addModule(double alpha, double beta, double gamma, ID id)
+
+ +
+
+bool addEdge(const Edge &edge)
+
+ +
+
+bool removeEdge(const Edge &edge)
+
+ +
+
+bool findEdge(const Edge &edge) const
+
+ +
+
+bool findConnection(const Edge &edge) const
+
+ +
+
+void setFixed(ID initID, ShoeId initSide, const Matrix &initRotation)
+
+ +
+
+bool isValid()
+
+ +
+
+bool computeMatrices()
+

Computes matrices for all shoes.

+

This method is called in method isValid.

+

User should call this if they create new configuration or they change some angles and they don’t call method isValid.

+
+
Returns
+

false if there is inconsistency in computing matrices, i.e. matrix for one shoe was computed two different ways and the results aren’t equal (rotated module, that couldn’t be rotated)

+
+
+
+ +
+
+Matrix computeConnectedMatrix(Edge edge) const
+

Computes matrix for shoe at the end of edge from shoe at the begining of edge.

+

For example, module with id = 1 is connected from shoe A to shoe B of module with id = 2. It takes matrix of shoe A of module 1 and computes matrix of shoe B of module 2 from that.

+

If neither matrix of shoes of the first module is computed, error is thrown.

+
+
Returns
+

Matrix of the shoe connected to the end of edge

+
+
+
+ +
+
+Matrix computeOtherSideMatrix(ID id, ShoeId side) const
+

Given id and side computes matrix for the other shoe of the given module.

+
+
Returns
+

Matrix of the other shoe of the given module

+
+
+
+ +
+
+bool connected()
+
+ +
+
+bool connected() const
+
+ +
+
+bool collisionFree()
+
+ +
+
+bool collisionFree() const
+
+ +
+
+Vector massCenter() const
+
+ +
+
+Vector getModuleMass(ID id) const
+
+ +
+
+bool execute(const Action &action)
+

Tries to execute given action.

+

False is returned if either you try to add edge to already occupied dock, erase non-existent edge, perform invalid rotation or configuration wasn’t connected before executing.

+

This function does NOT check if two modules collide during rotations. For this functionality use executeIfValid from Generators.h

+
+
Returns
+

True if action was executed without problems.

+
+
+
+ +
+
+Action diff(const Configuration &other) const
+
+ +
+
+inline bool operator==(const Configuration &other) const
+
+ +
+
+inline bool operator!=(const Configuration &other) const
+
+ +
+
+void clearEdges()
+
+ +
+
+bool computeSpanningTree()
+

Computes spanning tree of configuration.

+
+
Returns
+

True if configuration is connected, False if not.

+
+
+
+ +
+
+

Public Members

+
+
+friend ConfigurationHash
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofilib/index.html b/branch/hexapod/rofilib/index.html new file mode 100644 index 000000000..98ace181a --- /dev/null +++ b/branch/hexapod/rofilib/index.html @@ -0,0 +1,144 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofisim/index.html b/branch/hexapod/rofisim/index.html new file mode 100644 index 000000000..4bea47ca9 --- /dev/null +++ b/branch/hexapod/rofisim/index.html @@ -0,0 +1,125 @@ + + + + + + + RoFISim — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFISim

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/rofisim/rofihal.html b/branch/hexapod/rofisim/rofihal.html new file mode 100644 index 000000000..3e9134475 --- /dev/null +++ b/branch/hexapod/rofisim/rofihal.html @@ -0,0 +1,1034 @@ + + + + + + + RoFI Hal — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Hal

+

This is the same hal as for the physical RoFI.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator ConnectedPower
+
+ +
+
+enumerator DisconnectedPower
+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation : public std::enable_shared_from_this<Implementation>
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establishes connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callbacks registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the PBuf packet.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation : public std::enable_shared_from_this<Implementation>
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/hexapod/search.html b/branch/hexapod/search.html new file mode 100644 index 000000000..999b3982b --- /dev/null +++ b/branch/hexapod/search.html @@ -0,0 +1,123 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
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  • Search
    • +
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    • +
+
+
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+
+ + + + +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/hexapod/searchindex.js b/branch/hexapod/searchindex.js new file mode 100644 index 000000000..35f34310b --- /dev/null +++ b/branch/hexapod/searchindex.js @@ -0,0 +1 @@ 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- Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFiCoM","Containers","Atoms","Patterns","Embded Resources Management","Configuration","RoFILib","RoFISim","RoFI Hal","Universal Module"],titleterms:{"class":[8,11,12,15],atom:9,build:[1,4,5],c:6,cloneabl:10,compil:[1,2],configur:12,constant:[12,15],contain:8,content:0,depend:[4,5],desktop:4,document:[0,5],embd:11,environ:1,exampl:1,gazebosim:1,hal:15,hiearchi:10,introduct:2,macro:11,manag:11,modul:16,network:15,object:10,option:[4,5],pattern:10,project:3,quick:1,refer:[8,11],resourc:11,rofi:[0,1,15],roficom:7,rofilib:13,rofisim:14,run:6,start:1,structur:[2,3],suit:[1,4,5],target:1,technic:0,test:6,type:[12,15],univers:16,usag:11,valueptr:10,visitor:10,write:6}}) \ No newline at end of file diff --git a/branch/hexapod/universalModule/index.html b/branch/hexapod/universalModule/index.html new file mode 100644 index 000000000..8918db6bb --- /dev/null +++ b/branch/hexapod/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
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+

Universal Module

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+ + + + \ No newline at end of file diff --git a/branch/master/_images/code.jpg b/branch/master/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/master/_images/code.jpg differ diff --git a/branch/master/_images/connector_photo.jpg b/branch/master/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/master/_images/connector_photo.jpg differ diff --git a/branch/master/_images/um_photo.jpg b/branch/master/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/master/_images/um_photo.jpg differ diff --git a/branch/master/_sources/index.rst.txt b/branch/master/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/master/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/master/_sources/intro/compiling.rst.txt b/branch/master/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/master/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/master/_sources/intro/index.rst.txt b/branch/master/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/master/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/master/_sources/intro/structure.rst.txt b/branch/master/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/master/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/master/_sources/intro/suites/desktop.rst.txt b/branch/master/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/master/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/master/_sources/intro/suites/doc.rst.txt b/branch/master/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/master/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/master/_sources/intro/testing.rst.txt b/branch/master/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/master/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/master/_sources/releng/index.rst.txt b/branch/master/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/master/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/master/_sources/roficom/index.rst.txt b/branch/master/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/master/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/master/_sources/rofihal/index.rst.txt b/branch/master/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/master/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/master/_sources/rofilib/atoms/containers.rst.txt b/branch/master/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/master/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/master/_sources/rofilib/atoms/index.rst.txt b/branch/master/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/master/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/master/_sources/rofilib/atoms/patterns.rst.txt b/branch/master/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/master/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/master/_sources/rofilib/atoms/resources.rst.txt b/branch/master/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/master/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/master/_sources/rofilib/atoms/result.rst.txt b/branch/master/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/master/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/master/_sources/rofilib/configurations/index.rst.txt b/branch/master/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/master/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/master/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/master/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/master/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/master/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/master/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/master/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/master/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/master/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/master/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/master/_sources/rofilib/configurations/voxel.rst.txt b/branch/master/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/master/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/master/_sources/rofilib/index.rst.txt b/branch/master/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/master/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/master/_sources/tutorials/index.rst.txt b/branch/master/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/master/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/master/_sources/tutorials/simulator.md.txt b/branch/master/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/master/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/master/_sources/universalModule/index.rst.txt b/branch/master/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/master/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/master/_static/basic.css b/branch/master/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/master/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/master/_static/documentation_options.js b/branch/master/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/master/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/master/_static/file.png b/branch/master/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/master/_static/file.png differ diff --git a/branch/master/_static/jquery-3.5.1.js b/branch/master/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/master/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/index.html b/branch/master/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/master/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/intro/compiling.html b/branch/master/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/master/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/intro/index.html b/branch/master/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/master/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/intro/structure.html b/branch/master/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/master/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/intro/suites/desktop.html b/branch/master/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/master/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/intro/suites/doc.html b/branch/master/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/master/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/intro/testing.html b/branch/master/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/master/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/objects.inv b/branch/master/objects.inv new file mode 100644 index 000000000..7c051fb0a Binary files /dev/null and b/branch/master/objects.inv differ diff --git a/branch/master/releng/index.html b/branch/master/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/master/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/roficom/index.html b/branch/master/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/master/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofihal/index.html b/branch/master/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/master/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/atoms/containers.html b/branch/master/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/master/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/atoms/index.html b/branch/master/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/master/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/atoms/patterns.html b/branch/master/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/master/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/atoms/resources.html b/branch/master/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/master/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/atoms/result.html b/branch/master/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/master/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/index.html b/branch/master/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/master/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/parsing_in_cpp.html b/branch/master/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/master/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/rofiworld.html b/branch/master/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..b0481f30c --- /dev/null +++ b/branch/master/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/serializations/json.html b/branch/master/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/master/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/serializations/voxel.html b/branch/master/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/master/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/tooling_usage.html b/branch/master/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/master/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/configurations/voxel.html b/branch/master/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/master/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/rofilib/index.html b/branch/master/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/master/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/search.html b/branch/master/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/master/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/master/tutorials/index.html b/branch/master/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/master/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
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+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/tutorials/simulator.html b/branch/master/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/master/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/master/universalModule/index.html b/branch/master/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/master/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/_images/code.jpg b/branch/network-manager/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/network-manager/_images/code.jpg differ diff --git a/branch/network-manager/_images/connector_photo.jpg b/branch/network-manager/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/network-manager/_images/connector_photo.jpg differ diff --git a/branch/network-manager/_images/um_photo.jpg b/branch/network-manager/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/network-manager/_images/um_photo.jpg differ diff --git a/branch/network-manager/_sources/index.rst.txt b/branch/network-manager/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/network-manager/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/network-manager/_sources/intro/compiling.rst.txt b/branch/network-manager/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/network-manager/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/network-manager/_sources/intro/index.rst.txt b/branch/network-manager/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/network-manager/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/network-manager/_sources/intro/structure.rst.txt b/branch/network-manager/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/network-manager/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/network-manager/_sources/intro/suites/desktop.rst.txt b/branch/network-manager/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/network-manager/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/network-manager/_sources/intro/suites/doc.rst.txt b/branch/network-manager/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/network-manager/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/network-manager/_sources/intro/testing.rst.txt b/branch/network-manager/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/network-manager/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/network-manager/_sources/releng/index.rst.txt b/branch/network-manager/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/network-manager/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/network-manager/_sources/roficom/index.rst.txt b/branch/network-manager/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/network-manager/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/network-manager/_sources/rofihal/index.rst.txt b/branch/network-manager/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/network-manager/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/network-manager/_sources/rofilib/atoms/containers.rst.txt b/branch/network-manager/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/network-manager/_sources/rofilib/atoms/index.rst.txt b/branch/network-manager/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/network-manager/_sources/rofilib/atoms/patterns.rst.txt b/branch/network-manager/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/network-manager/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/network-manager/_sources/rofilib/atoms/resources.rst.txt b/branch/network-manager/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/network-manager/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/network-manager/_sources/rofilib/atoms/result.rst.txt b/branch/network-manager/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/network-manager/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/network-manager/_sources/rofilib/configurations/index.rst.txt b/branch/network-manager/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/network-manager/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/network-manager/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/network-manager/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/network-manager/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/network-manager/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/network-manager/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/network-manager/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/network-manager/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/network-manager/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/network-manager/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/network-manager/_sources/rofilib/configurations/voxel.rst.txt b/branch/network-manager/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/network-manager/_sources/rofilib/index.rst.txt b/branch/network-manager/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..81c5312e7 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/index.rst.txt @@ -0,0 +1,18 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index + +Networking is available via :cpp:class:`NetworkManager`. + +.. toctree:: + networking/index diff --git a/branch/network-manager/_sources/rofilib/networking/index.rst.txt b/branch/network-manager/_sources/rofilib/networking/index.rst.txt new file mode 100644 index 000000000..ef607da79 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/networking/index.rst.txt @@ -0,0 +1,122 @@ +Netwokring +========== + +Networking is available via `lwip ` library onto which +platform's networking is built. By default, IPv6 protocol is used. + +The networking is represented by the class :cpp:class:`NetworkManager ` +which enables user not only an easier control over network interfaces, their configuration, etc., +but also provides additional functionality such as routing support. There should be always one +instance of the class running within a single module as the `NetworkManager` takes care of all +its connectors -- within the networking, they are represented with :cpp:class:`Interface ` +-- and there is an additional virtual interface (`"rl0"`) independent of physical connectors used as the main +interface of the module. This virtual interface is the interface you want to configure, if you don't +know which one. + +The usage is simple, the class itself initializes everything using :cpp:class:`RoFI `. +For example, let us initialize networking of a module and assign an IPv6 address to it. + +.. code-block:: cpp + + #include + + // ... + // if lwip's tcpip stack is not initialized, call + // tcpip_init( nullptr, nullptr ); + + hal::RoFI localRofi = RoFI::getLocalRoFI(); + + NetworkManager net( localRofi ); + + // adds address fc07:0:0:1::1 with mask /80 to interface "rl0", which is the virtual one + net.addAddress( "fc07:0:0:1::1"_ip, 80, net.interface( "rl0" ) ); + // set all interfaces up -- to process incomming/outcomming traffic + net.setUp(); + + +Now, we have a module with an IP address configured. Suppose, that we have a network of interconnected +modules where each has its own address. To be able to send a message between two modules, the routing +table of a receiver (and all modules in-between) has to contain a path to receiver. To populate the routing +table, the routing protocol must be configured. + +The RoFI platform offers multiple routing protocols by default; these are +:cpp:class:`SimplePeriodic `, :cpp:class:`SimpleReactive `, +and :cpp:class:`RRP `. The first two protocols are very simple and they always share their whole +routing table. The main difference is the way messages are sent; the first one sends updates periodically, the second +one sends messages on network changes only. The third protocol tries to be smarter about sharing routing information; +more details can be found in the Protocols section. + +Using `SimpleReactive` protocol, we enable routing with + +.. code-block:: cpp + + #include + + // the code from above + + // Add protocol into the NetworkManager so that it can be used + auto* simpleReactive = net.addProtocol( SimpleReactive() ); + + // now we enable the protocol on all interfaces + net.setProtocol( simpleReactive ); + // you can also enable the protocol only on certain interfaces + // e.g., to enable the protocol on interface "rd4", you can call + // net.setProtocol( simpleReactive, net.getInterface( "rd4" ) ); + // + // you could also accomplish the same as above with a for loop + // for ( const auto& i : net.interfaces() ) { + // net.setProtocol( simpleReactive, net.interface( i.name() ) ); + // } + // + +The routing process is now running, so the interconnected modules will share necessary information and populate the routing +table. Then you can use regular sockets from `lwip` library and send messages accross the network. + +Network Manager +--------------- + +.. doxygenclass:: rofi::net::NetworkManager + :project: networking + +Protocols +--------- + +The interface is desribed by the class :cpp:class`Protocol ` + +.. doxygenclass:: rofi::net::Protocol + :project: networking + +And there are some default implementations. For routing we have + +.. doxygenclass:: rofi::net::SimplePeriodic + :project: networking + +.. doxygenclass:: rofi::net::SimpleReactive + :project: networking + +.. doxygenclass:: rofi::net::RRP + :project: networking + +and there is also a simple leader elect protocol available + +.. doxygenclass:: rofi::net::LeaderElect + :project: networking + +Command Line Interface (CLI) +---------------------------- + +Simple CLI interface for the network management is availabe. + +.. doxygenclass:: rofi::net::NetworkManagerCli + :project: networking + +Components +---------- + +The rest of components are listed here. The user will encouter them, but changes in their configuration +should be done indirectly via `NetworkManager`. + +.. toctree:: + interface + routingTable + diff --git a/branch/network-manager/_sources/rofilib/networking/interface.rst.txt b/branch/network-manager/_sources/rofilib/networking/interface.rst.txt new file mode 100644 index 000000000..af1ed168a --- /dev/null +++ b/branch/network-manager/_sources/rofilib/networking/interface.rst.txt @@ -0,0 +1,11 @@ +Interface +--------- + +This class represents the interface. In the networking, we distinguish two types +of interfaces; the first one are physical/non-virtual interfaces which correspond +to the connector of the module, the second one is so-called virtual interface +which is an additional interface of each module which serves as the main interface. + +.. doxygenclass:: rofi::net::Interface + :project: networking + diff --git a/branch/network-manager/_sources/rofilib/networking/routingTable.rst.txt b/branch/network-manager/_sources/rofilib/networking/routingTable.rst.txt new file mode 100644 index 000000000..6817b43a7 --- /dev/null +++ b/branch/network-manager/_sources/rofilib/networking/routingTable.rst.txt @@ -0,0 +1,9 @@ +Routing table +------------- + +The routing table contains all routes known to the networking within the `NetworkManager` of given +module. The table itself manages underlying lwip's forwarding table (an addition of the RoFI +platform) which should be left intact by the user. + +.. doxygenclass:: rofi::net::RoutingTable + :project: networking diff --git a/branch/network-manager/_sources/tutorials/index.rst.txt b/branch/network-manager/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/network-manager/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/network-manager/_sources/tutorials/simulator.md.txt b/branch/network-manager/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/network-manager/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/network-manager/_sources/universalModule/index.rst.txt b/branch/network-manager/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/network-manager/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/network-manager/_static/basic.css b/branch/network-manager/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/network-manager/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* 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000000000..e1bfd708b --- /dev/null +++ b/branch/network-manager/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/network-manager/_static/documentation_options.js b/branch/network-manager/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/network-manager/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/network-manager/_static/file.png b/branch/network-manager/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/network-manager/_static/file.png differ diff --git a/branch/network-manager/_static/jquery-3.5.1.js b/branch/network-manager/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/network-manager/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/index.html b/branch/network-manager/index.html new file mode 100644 index 000000000..34a06bebf --- /dev/null +++ b/branch/network-manager/index.html @@ -0,0 +1,316 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/intro/compiling.html b/branch/network-manager/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/network-manager/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/intro/index.html b/branch/network-manager/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/network-manager/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/intro/structure.html b/branch/network-manager/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/network-manager/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/intro/suites/desktop.html b/branch/network-manager/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/network-manager/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/intro/suites/doc.html b/branch/network-manager/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/network-manager/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/intro/testing.html b/branch/network-manager/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/network-manager/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/objects.inv b/branch/network-manager/objects.inv new file mode 100644 index 000000000..b8155c8d4 Binary files /dev/null and b/branch/network-manager/objects.inv differ diff --git a/branch/network-manager/releng/index.html b/branch/network-manager/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/network-manager/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/roficom/index.html b/branch/network-manager/roficom/index.html new file mode 100644 index 000000000..371eb68a2 --- /dev/null +++ b/branch/network-manager/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofihal/index.html b/branch/network-manager/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/network-manager/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/atoms/containers.html b/branch/network-manager/rofilib/atoms/containers.html new file mode 100644 index 000000000..f09c5a799 --- /dev/null +++ b/branch/network-manager/rofilib/atoms/containers.html @@ -0,0 +1,329 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/atoms/index.html b/branch/network-manager/rofilib/atoms/index.html new file mode 100644 index 000000000..164403f5e --- /dev/null +++ b/branch/network-manager/rofilib/atoms/index.html @@ -0,0 +1,155 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/atoms/patterns.html b/branch/network-manager/rofilib/atoms/patterns.html new file mode 100644 index 000000000..5562f1ef4 --- /dev/null +++ b/branch/network-manager/rofilib/atoms/patterns.html @@ -0,0 +1,461 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/atoms/resources.html b/branch/network-manager/rofilib/atoms/resources.html new file mode 100644 index 000000000..44c5923ad --- /dev/null +++ b/branch/network-manager/rofilib/atoms/resources.html @@ -0,0 +1,235 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/atoms/result.html b/branch/network-manager/rofilib/atoms/result.html new file mode 100644 index 000000000..260d3eb6c --- /dev/null +++ b/branch/network-manager/rofilib/atoms/result.html @@ -0,0 +1,1046 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/index.html b/branch/network-manager/rofilib/configurations/index.html new file mode 100644 index 000000000..6d0586a9e --- /dev/null +++ b/branch/network-manager/rofilib/configurations/index.html @@ -0,0 +1,211 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/parsing_in_cpp.html b/branch/network-manager/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..a92e7d86f --- /dev/null +++ b/branch/network-manager/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,457 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/rofiworld.html b/branch/network-manager/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..0878a3d26 --- /dev/null +++ b/branch/network-manager/rofilib/configurations/rofiworld.html @@ -0,0 +1,1361 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/serializations/json.html b/branch/network-manager/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..f4cd69905 --- /dev/null +++ b/branch/network-manager/rofilib/configurations/serializations/json.html @@ -0,0 +1,363 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/serializations/voxel.html b/branch/network-manager/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..8ab702520 --- /dev/null +++ b/branch/network-manager/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,158 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/tooling_usage.html b/branch/network-manager/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ae1c44a54 --- /dev/null +++ b/branch/network-manager/rofilib/configurations/tooling_usage.html @@ -0,0 +1,167 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/configurations/voxel.html b/branch/network-manager/rofilib/configurations/voxel.html new file mode 100644 index 000000000..1f6fc6b7b --- /dev/null +++ b/branch/network-manager/rofilib/configurations/voxel.html @@ -0,0 +1,478 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/index.html b/branch/network-manager/rofilib/index.html new file mode 100644 index 000000000..895f4674d --- /dev/null +++ b/branch/network-manager/rofilib/index.html @@ -0,0 +1,218 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+

Networking is available via NetworkManager.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/networking/index.html b/branch/network-manager/rofilib/networking/index.html new file mode 100644 index 000000000..9b1119cd1 --- /dev/null +++ b/branch/network-manager/rofilib/networking/index.html @@ -0,0 +1,1289 @@ + + + + + + + Netwokring — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Netwokring

+

Networking is available via lwip <https://www.nongnu.org/lwip/2_1_x/index.html> library onto which +platform’s networking is built. By default, IPv6 protocol is used.

+

The networking is represented by the class NetworkManager +which enables user not only an easier control over network interfaces, their configuration, etc., +but also provides additional functionality such as routing support. There should be always one +instance of the class running within a single module as the NetworkManager takes care of all +its connectors – within the networking, they are represented with Interface +– and there is an additional virtual interface (“rl0”) independent of physical connectors used as the main +interface of the module. This virtual interface is the interface you want to configure, if you don’t +know which one.

+

The usage is simple, the class itself initializes everything using RoFI. +For example, let us initialize networking of a module and assign an IPv6 address to it.

+
#include <networking/networkManager.hpp>
+
+// ...
+// if lwip's tcpip stack is not initialized, call
+// tcpip_init( nullptr, nullptr );
+
+hal::RoFI localRofi = RoFI::getLocalRoFI();
+
+NetworkManager net( localRofi );
+
+// adds address fc07:0:0:1::1 with mask /80 to interface "rl0", which is the virtual one
+net.addAddress( "fc07:0:0:1::1"_ip, 80, net.interface( "rl0" ) );
+// set all interfaces up -- to process incomming/outcomming traffic
+net.setUp();
+
+
+

Now, we have a module with an IP address configured. Suppose, that we have a network of interconnected +modules where each has its own address. To be able to send a message between two modules, the routing +table of a receiver (and all modules in-between) has to contain a path to receiver. To populate the routing +table, the routing protocol must be configured.

+

The RoFI platform offers multiple routing protocols by default; these are +SimplePeriodic, SimpleReactive, +and RRP. The first two protocols are very simple and they always share their whole +routing table. The main difference is the way messages are sent; the first one sends updates periodically, the second +one sends messages on network changes only. The third protocol tries to be smarter about sharing routing information; +more details can be found in the Protocols section.

+

Using SimpleReactive protocol, we enable routing with

+
#include <networking/protocols/simpleReactive.hpp>
+
+// the code from above
+
+// Add protocol into the NetworkManager so that it can be used
+auto* simpleReactive = net.addProtocol( SimpleReactive() );
+
+// now we enable the protocol on all interfaces
+net.setProtocol( simpleReactive );
+// you can also enable the protocol only on certain interfaces
+// e.g., to enable the protocol on interface "rd4", you can call
+//     net.setProtocol( simpleReactive, net.getInterface( "rd4" ) );
+//
+// you could also accomplish the same as above with a for loop
+//    for ( const auto& i : net.interfaces() ) {
+//        net.setProtocol( simpleReactive, net.interface( i.name() ) );
+//    }
+//
+
+
+

The routing process is now running, so the interconnected modules will share necessary information and populate the routing +table. Then you can use regular sockets from lwip library and send messages accross the network.

+
+

Network Manager

+
+
+class NetworkManager
+
+

Public Functions

+
+
+NetworkManager() = delete
+
+ +
+
+inline explicit NetworkManager(hal::RoFI rofi)
+

Create a Network Manager instance for module corresponding to given RoFI proxy.

+

This constructor creates MAC adress from the proxy’s id.

+
+ +
+
+inline NetworkManager(hal::RoFI rofi, PhysAddr p)
+

Create a Network Manager instance for module corresponding to given RoFI proxy.

+

This constructor uses p as the MAC address.

+
+ +
+
+inline const Interface *findInterface(const Interface::Name &name) const
+

Finds an interface of given name among Network Manager’s interfaces.

+
+ +
+
+inline const Interface &interface(const Interface::Name &name) const
+

Returns an interface of given name.

+

The interface must exist within Network Manager.

+
+ +
+
+inline auto interfaces() const
+

Get iterable range of interfaces within the Network Manager.

+
+ +
+
+template<std::derived_from<Protocol> Proto>
inline Protocol *addProtocol(const Proto &p)
+

Add given protocol into the Network Manager.

+

There must NOT be a protocol with same name and/or listenner address present in the Network Manager.

+
+
Parameters
+

p – protocol to add

+
+
Returns
+

Pointer to the added instance under control of the Network Manager.

+
+
+
+ +
+
+inline auto protocols() const
+

Get iterable range of protocols within the Network Manager.

+
+ +
+
+inline bool addAddress(const Ip6Addr &ip, uint8_t mask, const Interface &i)
+

Add given address and mask onto a given interface.

+
+
Returns
+

true if the address was added succesfully

+
+
Returns
+

false otherwise

+
+
+
+ +
+
+inline bool removeAddress(const Ip6Addr &ip, uint8_t mask, const Interface &i)
+

Remove given address and mask from the given interface.

+
+
Returns
+

true if the address was removed succesfully

+
+
Returns
+

false otherwise

+
+
+
+ +
+
+inline Protocol *getProtocol(const std::string &name)
+

Get protocol of a given name.

+

Names are unique within the protocol.

+
+
Returns
+

a pointer to a protocol of a given name

+
+
+
+ +
+
+inline void setProtocol(Protocol &proto)
+

Set protocol to run on all interfaces.

+
+ +
+
+inline void setProtocol(Protocol &proto, const Interface &i)
+

Set protocol to run on a given interface.

+

This sets up all necessary listeners, starts processing protocol messages, etc.

+
+ +
+
+inline void removeProtocol(Protocol &proto, const Interface &i)
+

Remove protocol from the given interface.

+

This unsets all listeners, stops processing protocol’s messages.

+
+ +
+
+inline void setUp(const Interface &i)
+

Set the interface up.

+

The interface starts processing trafic.

+
+ +
+
+inline void setUp()
+

Set all interfaces up.

+
+ +
+
+inline void setDown(const Interface &i)
+

Set the interface down.

+

The interface stops processing trafic.

+
+ +
+
+inline void setDown()
+

Set all interfaces down.

+
+ +
+
+inline const RoutingTable &routingTable() const
+

Get network manager’s routing table.

+
+ +
+
+inline bool addRoute(const Ip6Addr ip, uint8_t mask, const Interface::Name &ifname, RoutingTable::Cost cost)
+

Add a static route into the routing table.

+
+
Returns
+

true if the route was succesfully added

+
+
Returns
+

false if the interface does not exist or the route was not added

+
+
+
+ +
+
+inline bool rmRoute(const Ip6Addr ip, uint8_t mask, const Interface::Name &ifname)
+

Remove a static route into the routing table.

+
+
Returns
+

true if the route was succesfully removed

+
+
Returns
+

false if the interface does not exist or the route was not removed

+
+
+
+ +
+
+inline void log(Logger::Level l, const std::string &msg)
+

Logs a given message with corresponding severity level.

+
+ +
+
+inline void log(Logger::Level l, const std::string &where, const std::string &msg)
+

Logs a given message with corresponding severity level specifying the component where the event originated.

+
+ +
+
+inline auto logs() const
+

Returns an iterable range of logs.

+
+ +
+
+inline auto logsFrom(const Interface &i) const
+

Returns an iterable range of logs only from the specified component.

+
+ +
+
+inline auto logs(Logger::Level l) const
+

Returns an iterable range of logs with given severity level.

+
+ +
+
+ +
+
+

Protocols

+

The interface is desribed by the class :cpp:class`Protocol <rofi::net::Protocol>`

+
+
+class Protocol
+

Virtual class defining the interface for NetworkManager’s protocols.

+

Subclassed by rofi::net::LeaderElect, rofi::net::RRP, rofi::net::SimplePeriodic, rofi::net::SimpleReactive

+
+

Public Types

+
+
+enum class Route
+

Enum for communicating the route updates.

+

Values:

+
+
+enumerator ADD
+

A new route to be added.

+
+ +
+
+enumerator RM
+

A known route is no longer valid.

+
+ +
+ +
+
+enum class ConfigAction
+

Enum for communicating the interface state updates.

+

Values:

+
+
+enumerator ADD_IP
+

Interface shoud get a new IP.

+
+ +
+
+enumerator REMOVE_IP
+

Interface should lose an IP.

+
+ +
+
+enumerator SHUT_DOWN
+

Interface should be shut down.

+
+ +
+
+enumerator SET_UP
+

Interface should be set up.

+
+ +
+
+enumerator RESPOND
+

A response on obtained update is needed.

+
+ +
+ +
+
+using RoutingTableFun = std::function<RoutingTable::Records()>
+
+ +
+
+using ConfigChange = std::tuple<Interface::Name, Ip6Addr, uint8_t>
+
+ +
+
+

Public Functions

+
+
+virtual ~Protocol() = default
+
+ +
+
+virtual bool onMessage(const std::string &interfaceName, hal::PBuf packet) = 0
+

Process the incomming message on given interface.

+
+
Returns
+

true if if a change of state is required.

+
+
+
+ +
+
+inline virtual bool onInterfaceEvent(const Interface&, bool)
+

This function is called when an event (Connected, Disconnected) on connector arises.

+
+
Parameters
+
    +

  • interface – on which event originated

    • +

  • connected – true if a connector was connected, false if it was disconnected

    • +
+
+
Returns
+

true if any the event caused any changes.

+
+
+
+ +
+
+virtual bool afterMessage(const Interface &i, std::function<void(PBuf&&)> f, void *args) = 0
+

This function is called after processing updates from onMessage (if any) and provides to the protocol the ability of sending a message via given interface.

+
+
Returns
+

bool indicating if any local change is required to take place.

+
+
+
+ +
+
+inline virtual bool hasRouteUpdates() const
+

Function that returns true if there are any pending routing updates.

+
+ +
+
+inline virtual std::vector<std::pair<Route, RoutingTable::Record>> getRouteUpdates() const
+

Function that outputs all routing updates possibly created in onMessage.

+

+This function is called in case onMessage and hasRouteUpdates return true. The default implementation returns an empty vector, so it is not necessary to override this for non-routing protocols.

+
+
Returns
+

A vector of pairs with the type of change (e.g., a new route) and its RoutingTable::Record to be added.

+
+
+
+ +
+
+inline virtual bool hasConfigUpdates() const
+

Function that returns true if there are any pending configuration updates.

+
+ +
+
+inline virtual std::vector<std::pair<ConfigAction, ConfigChange>> getConfigUpdates() const
+

Function that outputs all interface/state related updates possibly created in onMessage

+

+This function is called in case onMessage and hasConfigUpdates return true. The default imlementation return an empty vector, so it is not necessary to override this for routing-only protocols.

+
+
Returns
+

A vector of pairs with the type of change (e.g., a new IP) and its ConfigChange with all necessary information.

+
+
+
+ +
+
+virtual void clearUpdates() = 0
+

Clear any (cached) updates.

+

This function should clear all the updates within the protocol. By calling this function, the NetworkManager signalizes that all the updates (both – routing and interface related) were gathered already and are no longer needed.

+
+ +
+
+inline virtual bool addAddressOn(const Interface&, const Ip6Addr&, uint8_t)
+

Indicate a new address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool rmAddressOn(const Interface&, const Ip6Addr&, uint8_t)
+

Indicate a removal of an address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+virtual bool addInterface(const Interface &interface) = 0
+

Add the given interface into the protocol.

+
+
Returns
+

true if the interface was succesfully added.

+
+
+
+ +
+
+virtual bool removeInterface(const Interface &interface) = 0
+

Remove the given interface from the protocol.

+
+
Returns
+

true if the interface was succesfully removed.

+
+
+
+ +
+
+virtual bool manages(const Interface &interface) const = 0
+

Given an interface, decide if it is managed by the protocol.

+

+Namely, it should hold that after adding an interface via addInterface which returns true, then manages should return true for such interface.

+
+
Returns
+

true if the interface is managed by the protocol.

+
+
+
+ +
+
+inline void setRoutingTableCB(RoutingTableFun f)
+

This function can set the callback for the routing table.

+

The callback itself should be a function that returns the current state of the table for given protocol – records learned through it.

+
+ +
+
+inline RoutingTable::Records routingTableCB() const
+

Function that outputs all the records from routing table related to the protocol.

+

Internally, it uses the callback set in setRoutingTableCB function. If any such function is provided, then this function returns an empty collection.

+
+ +
+
+virtual Ip6Addr address() const = 0
+

Returns a multicast IP on which the protocol listener will be running.

+

This should be unique for each protocol.

+
+ +
+
+virtual std::string name() const = 0
+

Returns a name of the protocol.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string info() const
+

Returns a string representing some basic information about the protocol (e.g., its name and listenner address).

+
+ +
+
+ +

And there are some default implementations. For routing we have

+
+
+class SimplePeriodic : public rofi::net::Protocol
+

Proof-of-concept routing protocol using IP layer only with periodic messages.

+
+

Public Functions

+
+
+inline SimplePeriodic()
+
+ +
+
+inline SimplePeriodic(int period)
+
+ +
+
+inline virtual bool onMessage(const std::string &interfaceName, rofi::hal::PBuf packetWithHeader) override
+
+ +
+
+inline virtual bool afterMessage(const Interface &i, std::function<void(PBuf&&)> f, void *args) override
+

This function is called after processing updates from onMessage (if any) and provides to the protocol the ability of sending a message via given interface.

+
+
Returns
+

bool indicating if any local change is required to take place.

+
+
+
+ +
+
+inline virtual bool onInterfaceEvent(const Interface &interface, bool connected) override
+

This function is called when an event (Connected, Disconnected) on connector arises.

+
+
Parameters
+
    +

  • interface – on which event originated

    • +

  • connected – true if a connector was connected, false if it was disconnected

    • +
+
+
Returns
+

true if any the event caused any changes.

+
+
+
+ +
+
+inline virtual bool hasRouteUpdates() const override
+

Function that returns true if there are any pending routing updates.

+
+ +
+
+inline virtual std::vector<std::pair<Route, RoutingTable::Record>> getRouteUpdates() const override
+

Function that outputs all routing updates possibly created in onMessage.

+

+This function is called in case onMessage and hasRouteUpdates return true. The default implementation returns an empty vector, so it is not necessary to override this for non-routing protocols.

+
+
Returns
+

A vector of pairs with the type of change (e.g., a new route) and its RoutingTable::Record to be added.

+
+
+
+ +
+
+inline virtual void clearUpdates() override
+

Clear any (cached) updates.

+

This function should clear all the updates within the protocol. By calling this function, the NetworkManager signalizes that all the updates (both – routing and interface related) were gathered already and are no longer needed.

+
+ +
+
+inline virtual bool addAddressOn(const Interface &interface, const Ip6Addr &ip, uint8_t mask) override
+

Indicate a new address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool rmAddressOn(const Interface &interface, const Ip6Addr &ip, uint8_t mask) override
+

Indicate a removal of an address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool addInterface(const Interface &interface) override
+

Add the given interface into the protocol.

+
+
Returns
+

true if the interface was succesfully added.

+
+
+
+ +
+
+inline virtual bool removeInterface(const Interface &interface) override
+

Remove the given interface from the protocol.

+
+
Returns
+

true if the interface was succesfully removed.

+
+
+
+ +
+
+inline virtual bool manages(const Interface &interface) const override
+

Given an interface, decide if it is managed by the protocol.

+

+Namely, it should hold that after adding an interface via addInterface which returns true, then manages should return true for such interface.

+
+
Returns
+

true if the interface is managed by the protocol.

+
+
+
+ +
+
+inline virtual Ip6Addr address() const
+

Returns a multicast IP on which the protocol listener will be running.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string name() const
+

Returns a name of the protocol.

+

This should be unique for each protocol.

+
+ +
+
+ +
+
+class SimpleReactive : public rofi::net::Protocol
+

Proof-of-concept routing protocol using IP layer only with reactive messages.

+
+

Public Functions

+
+
+inline virtual bool onMessage(const std::string &interfaceName, rofi::hal::PBuf packetWithHeader) override
+
+ +
+
+inline virtual bool afterMessage(const Interface &i, std::function<void(PBuf&&)> f, void*) override
+

This function is called after processing updates from onMessage (if any) and provides to the protocol the ability of sending a message via given interface.

+
+
Returns
+

bool indicating if any local change is required to take place.

+
+
+
+ +
+
+inline virtual bool onInterfaceEvent(const Interface &interface, bool connected) override
+

This function is called when an event (Connected, Disconnected) on connector arises.

+
+
Parameters
+
    +

  • interface – on which event originated

    • +

  • connected – true if a connector was connected, false if it was disconnected

    • +
+
+
Returns
+

true if any the event caused any changes.

+
+
+
+ +
+
+inline virtual bool hasRouteUpdates() const override
+

Function that returns true if there are any pending routing updates.

+
+ +
+
+inline virtual std::vector<std::pair<Route, RoutingTable::Record>> getRouteUpdates() const override
+

Function that outputs all routing updates possibly created in onMessage.

+

+This function is called in case onMessage and hasRouteUpdates return true. The default implementation returns an empty vector, so it is not necessary to override this for non-routing protocols.

+
+
Returns
+

A vector of pairs with the type of change (e.g., a new route) and its RoutingTable::Record to be added.

+
+
+
+ +
+
+inline virtual void clearUpdates() override
+

Clear any (cached) updates.

+

This function should clear all the updates within the protocol. By calling this function, the NetworkManager signalizes that all the updates (both – routing and interface related) were gathered already and are no longer needed.

+
+ +
+
+inline virtual bool addAddressOn(const Interface &interface, const Ip6Addr &ip, uint8_t mask) override
+

Indicate a new address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool rmAddressOn(const Interface &interface, const Ip6Addr &ip, uint8_t mask) override
+

Indicate a removal of an address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool addInterface(const Interface &interface) override
+

Add the given interface into the protocol.

+
+
Returns
+

true if the interface was succesfully added.

+
+
+
+ +
+
+inline virtual bool removeInterface(const Interface &interface) override
+

Remove the given interface from the protocol.

+
+
Returns
+

true if the interface was succesfully removed.

+
+
+
+ +
+
+inline virtual bool manages(const Interface &interface) const override
+

Given an interface, decide if it is managed by the protocol.

+

+Namely, it should hold that after adding an interface via addInterface which returns true, then manages should return true for such interface.

+
+
Returns
+

true if the interface is managed by the protocol.

+
+
+
+ +
+
+inline virtual Ip6Addr address() const
+

Returns a multicast IP on which the protocol listener will be running.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string name() const
+

Returns a name of the protocol.

+

This should be unique for each protocol.

+
+ +
+
+ +
+
+class RRP : public rofi::net::Protocol
+
+

Public Types

+
+
+using Cost = uint8_t
+
+ +
+
+

Public Functions

+
+
+virtual ~RRP() = default
+
+ +
+
+inline virtual bool afterMessage(const Interface &i, std::function<void(PBuf&&)> f, void*) override
+

This function is called after processing updates from onMessage (if any) and provides to the protocol the ability of sending a message via given interface.

+
+
Returns
+

bool indicating if any local change is required to take place.

+
+
+
+ +
+
+inline virtual bool onMessage(const std::string &interfaceName, rofi::hal::PBuf packet) override
+
+ +
+
+inline virtual bool onInterfaceEvent(const Interface &interface, bool connected) override
+

This function is called when an event (Connected, Disconnected) on connector arises.

+
+
Parameters
+
    +

  • interface – on which event originated

    • +

  • connected – true if a connector was connected, false if it was disconnected

    • +
+
+
Returns
+

true if any the event caused any changes.

+
+
+
+ +
+
+inline virtual bool hasRouteUpdates() const override
+

Function that returns true if there are any pending routing updates.

+
+ +
+
+inline virtual std::vector<std::pair<Route, RoutingTable::Record>> getRouteUpdates() const override
+

Function that outputs all routing updates possibly created in onMessage.

+

+This function is called in case onMessage and hasRouteUpdates return true. The default implementation returns an empty vector, so it is not necessary to override this for non-routing protocols.

+
+
Returns
+

A vector of pairs with the type of change (e.g., a new route) and its RoutingTable::Record to be added.

+
+
+
+ +
+
+inline virtual void clearUpdates() override
+

Clear any (cached) updates.

+

This function should clear all the updates within the protocol. By calling this function, the NetworkManager signalizes that all the updates (both – routing and interface related) were gathered already and are no longer needed.

+
+ +
+
+inline virtual bool addAddressOn(const Interface &interface, const Ip6Addr &ip, uint8_t mask) override
+

Indicate a new address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool rmAddressOn(const Interface &interface, const Ip6Addr &ip, uint8_t mask) override
+

Indicate a removal of an address on given interface.

+
+
Returns
+

true if any change was caused by this change.

+
+
+
+ +
+
+inline virtual bool addInterface(const Interface &interface) override
+

Add the given interface into the protocol.

+
+
Returns
+

true if the interface was succesfully added.

+
+
+
+ +
+
+inline virtual bool removeInterface(const Interface &interface) override
+

Remove the given interface from the protocol.

+
+
Returns
+

true if the interface was succesfully removed.

+
+
+
+ +
+
+inline virtual bool manages(const Interface &interface) const override
+

Given an interface, decide if it is managed by the protocol.

+

+Namely, it should hold that after adding an interface via addInterface which returns true, then manages should return true for such interface.

+
+
Returns
+

true if the interface is managed by the protocol.

+
+
+
+ +
+
+inline virtual rofi::hal::Ip6Addr address() const override
+

Returns a multicast IP on which the protocol listener will be running.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string name() const override
+

Returns a name of the protocol.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string info() const override
+

Returns a string representing some basic information about the protocol (e.g., its name and listenner address).

+
+ +
+
+ +

and there is also a simple leader elect protocol available

+
+
+class LeaderElect : public rofi::net::Protocol
+

Proof-of-concept of a leader election protocol using IP layer only.

+
+

Public Functions

+
+
+inline LeaderElect(int id, const Ip6Addr &leaderAddr, uint8_t mask)
+
+ +
+
+virtual ~LeaderElect() = default
+
+ +
+
+inline virtual bool onMessage(const std::string &interfaceName, rofi::hal::PBuf packetWithHeader)
+
+ +
+
+inline virtual bool afterMessage(const Interface &i, std::function<void(PBuf&&)> f, void*)
+

This function is called after processing updates from onMessage (if any) and provides to the protocol the ability of sending a message via given interface.

+
+
Returns
+

bool indicating if any local change is required to take place.

+
+
+
+ +
+
+inline virtual bool hasConfigUpdates() const override
+

Function that returns true if there are any pending configuration updates.

+
+ +
+
+inline virtual std::vector<std::pair<ConfigAction, ConfigChange>> getConfigUpdates() const
+

Function that outputs all interface/state related updates possibly created in onMessage

+

+This function is called in case onMessage and hasConfigUpdates return true. The default imlementation return an empty vector, so it is not necessary to override this for routing-only protocols.

+
+
Returns
+

A vector of pairs with the type of change (e.g., a new IP) and its ConfigChange with all necessary information.

+
+
+
+ +
+
+inline virtual void clearUpdates()
+

Clear any (cached) updates.

+

This function should clear all the updates within the protocol. By calling this function, the NetworkManager signalizes that all the updates (both – routing and interface related) were gathered already and are no longer needed.

+
+ +
+
+inline virtual bool addInterface(const Interface &interface)
+

Add the given interface into the protocol.

+
+
Returns
+

true if the interface was succesfully added.

+
+
+
+ +
+
+inline virtual bool removeInterface(const Interface &interface)
+

Remove the given interface from the protocol.

+
+
Returns
+

true if the interface was succesfully removed.

+
+
+
+ +
+
+inline virtual bool manages(const Interface &interface) const override
+

Given an interface, decide if it is managed by the protocol.

+

+Namely, it should hold that after adding an interface via addInterface which returns true, then manages should return true for such interface.

+
+
Returns
+

true if the interface is managed by the protocol.

+
+
+
+ +
+
+inline virtual Ip6Addr address() const override
+

Returns a multicast IP on which the protocol listener will be running.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string name() const override
+

Returns a name of the protocol.

+

This should be unique for each protocol.

+
+ +
+
+inline virtual std::string info() const override
+

Returns a string representing some basic information about the protocol (e.g., its name and listenner address).

+
+ +
+
+ +
+
+

Command Line Interface (CLI)

+

Simple CLI interface for the network management is availabe.

+
+
+class NetworkManagerCli
+

Class for CLI management for NetworkManager class.

+
+

Public Functions

+
+
+inline NetworkManagerCli(NetworkManager &netManager)
+
+ +
+
+inline bool command(const std::string &cmd)
+

Process given command and makes appropriate changes to underlying NetworkManager.

+
+
Returns
+

true if the command was succesfully parsed.

+
+
+
+ +
+
+inline bool command(std::istream &ss)
+

Overloaded variant of the previous command function.

+
+ +
+
+inline void help() const
+

Prints out help message containing the usage description.

+
+ +
+
+ +
+
+

Components

+

The rest of components are listed here. The user will encouter them, but changes in their configuration +should be done indirectly via NetworkManager.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/networking/interface.html b/branch/network-manager/rofilib/networking/interface.html new file mode 100644 index 000000000..4c2c7a1aa --- /dev/null +++ b/branch/network-manager/rofilib/networking/interface.html @@ -0,0 +1,360 @@ + + + + + + + Interface — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Interface

+

This class represents the interface. In the networking, we distinguish two types +of interfaces; the first one are physical/non-virtual interfaces which correspond +to the connector of the module, the second one is so-called virtual interface +which is an additional interface of each module which serves as the main interface.

+
+
+class Interface
+

Class representing the interface of a Module.

+

Supports both, physical (i.e., with a physical connector) and virtual flavours.

+
+

Public Types

+
+
+enum class DHCP
+

Values:

+
+
+enumerator SLAAC
+
+ +
+
+enumerator STATEFULL
+
+ +
+ +
+
+using Name = std::string
+

Type alias for the Interface’s name. Use this instead of string, it may change in the future.

+
+ +
+
+

Public Functions

+
+
+template<typename NetmgCB, typename = std::is_invocable_r<void, NetmgCB, const Interface*, hal::ConnectorEvent>>
inline Interface(const PhysAddr &pAddr, std::optional<Connector> connector, const NetmgCB &networkManagerEventCB)
+
+ +
+
+template<typename NetmgCB, typename = std::is_invocable_r<void, NetmgCB, const Interface*, hal::ConnectorEvent>>
inline Interface(const PhysAddr &pAddr, Logger::LogFunction lf, std::optional<Connector> connector, const NetmgCB &networkManagerEventCB)
+
+ +
+
+inline ~Interface()
+
+ +
+
+Interface(const Interface&) = delete
+
+ +
+
+Interface &operator=(const Interface&) = delete
+
+ +
+
+inline bool setUp()
+

Set the interface up so it starts processing traffic.

+
+
Returns
+

true if the interface was set up correctly.

+
+
+
+ +
+
+inline void setDown()
+

Set the interface down so it stops processing traffic.

+
+ +
+
+inline bool isUp() const
+

Query on the state of the interface.

+
+
Returns
+

true if the interface is up.

+
+
+
+ +
+
+inline bool isDown() const
+

Query on the state of the interface.

+
+
Returns
+

true if the interface is down.

+
+
+
+ +
+
+inline bool isConnected()
+

Query on the state of the underlying connector.

+
+
Returns
+

true if the connector of the interface is connected. For virtual interface this returns always false.

+
+
+
+ +
+
+inline bool isVirtual() const
+

Returns true if the interface is virtual (i.e., does not have a physical connector).

+
+ +
+
+template<typename OnMessage, typename = std::is_invocable_r<err_t, OnMessage, raw_pcb*, pbuf*, const ip_addr_t*>>
inline void setProtocol(const Ip6Addr &listenerAddr, OnMessage &&onMessage)
+

Set up a protocol listener on given address with given callback function.

+

Throws an exception if the protocol is already running on given interface.

+
+ +
+
+inline void removeProtocol(const Ip6Addr &listenerAddr)
+

Remove protocol corresponding to the given address.

+

Stops corresponding listener.

+
+ +
+
+inline bool sendProtocol(const Ip6Addr &listenerAddr, PBuf &&msg)
+

Sends a message onto the given address using the protocol corresponding to the handle.

+
+
Returns
+

true if the message was sent correctly.

+
+
+
+ +
+
+inline std::pair<Ip6Addr, uint8_t> getAddress(int index) const
+

Get an address on the given interface.

+

Number of addresses is determined by the underlying lwip library, namely by LWIP_IPV6_NUM_ADDRESSES macro.

+
+
Returns
+

a pair – corresponding to IP address and the subnet mask.

+
+
+
+ +
+
+inline std::vector<std::pair<Ip6Addr, uint8_t>> getAddress() const
+
+ +
+
+inline Name name() const
+

Returns a name of the interface.

+
+ +
+
+inline bool setName(const Name &name)
+

Sets the name of the interface.

+

The name has to be in form of two characters followed with up to 3 digits.

+
+ +
+
+inline bool addAddress(const Ip6Addr &ip, uint8_t mask)
+

Add given address with the given mask to the interface.

+
+
Returns
+

true if the address was correctly added.

+
+
+
+ +
+
+inline bool removeAddress(const Ip6Addr &ip, uint8_t mask)
+

Removes given address with the given mask to the interface.

+
+
Returns
+

true if the address was correctly removed.

+
+
+
+ +
+
+inline void send(PBuf &&packet, uint16_t contentType)
+

Send given packet with the content type via the interface.

+
+ +
+
+inline long long unsigned dataSent() const
+

Function that returns the amount of data sent (in bytes).

+
+ +
+
+inline long long unsigned dataReceived() const
+

Function that returns the amount of data received (in bytes).

+
+ +
+
+

Friends

+
+
+friend bool operator==(const Interface &i1, const Interface &i2)
+
+ +
+
+friend std::ostream &operator<<(std::ostream &o, const Interface &i)
+

Outputs info about the interface.

+
+ +
+
+ +
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/rofilib/networking/routingTable.html b/branch/network-manager/rofilib/networking/routingTable.html new file mode 100644 index 000000000..eb4edf631 --- /dev/null +++ b/branch/network-manager/rofilib/networking/routingTable.html @@ -0,0 +1,409 @@ + + + + + + + Routing table — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Routing table

+

The routing table contains all routes known to the networking within the NetworkManager of given +module. The table itself manages underlying lwip’s forwarding table (an addition of the RoFI +platform) which should be left intact by the user.

+
+
+class RoutingTable
+

Class representing routing table of the platform.

+

This class also manages the underlying lwip library, therefore users should not interfere and manage the forwarding table in lwip themselves.

+
+

Public Types

+
+
+using Cost = int
+
+ +
+
+using Records = std::vector<Record>
+
+ +
+
+

Public Functions

+
+
+inline std::size_t size() const
+

Get the count of records (number of known networks).

+
+ +
+
+inline bool empty() const
+

Check if the table contains any record.

+
+
Returns
+

true if there are no records.

+
+
+
+ +
+
+inline Record *find(const Ip6Addr &ip, uint8_t mask)
+

Find a record for given network.

+
+ +
+
+inline bool add(const Record &r, const Protocol *learnedFrom = nullptr)
+

Add a new network to the table.

+

If the record exists, it merges gateways of both records.

+
+
Returns
+

true if a record was added or (in case it exists) merging added a new gateway.

+
+
+
+ +
+
+inline bool add(const Ip6Addr &ip, uint8_t mask, const Interface::Name &n, Cost c, const Protocol *learned = nullptr)
+

Overloaded version of add.

+
+ +
+
+inline bool remove(const Record &r)
+

Remove given record.

+
+
Returns
+

true if record was removed.

+
+
+
+ +
+
+inline bool remove(const Ip6Addr &ip, uint8_t mask, const Gateway &gw)
+

Remove all gateways from the given network record with given Gateways.

+
+ +
+
+inline bool removeNetwork(const Ip6Addr &ip, uint8_t mask)
+

Removes record for given network with all of its gateways.

+
+ +
+
+inline bool removeInterface(const Ip6Addr &ip, uint8_t mask, const Interface::Name &gwn)
+

Remove all gateways from the given network record with given output interface.

+
+ +
+
+inline void purge(const Interface::Name &n)
+

Remove all gateways using given interface as the output.

+

Removes records that would end up empty (i.e., without any gateway).

+
+ +
+
+inline Records recordsLearnedFrom(const Protocol &proto) const
+

Function for getting all records learned through given protocol.

+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream&, const RoutingTable&)
+
+ +
+
+
+class Gateway
+

Class representing single gateway with its cost, output interface, and protocol via witch the gateway was discovered.

+
+

Public Functions

+
+
+inline Gateway(const Interface::Name &i, Cost c)
+
+ +
+
+inline Gateway(const Interface::Name &i, Cost c, const Protocol *learnedFrom)
+
+ +
+
+inline Cost cost() const
+
+ +
+
+inline Interface::Name name() const
+
+ +
+
+inline const Protocol *learnedFrom() const
+
+ +
+
+inline bool improveCost(Cost c)
+

Update the cost with a new value, if the new value is lower.

+
+
Returns
+

true if the cost changed, false otherwise

+
+
+
+ +
+
+auto operator<=>(const Gateway&) const = default
+
+ +
+
+ +
+
+class Record
+

Class representing a record of the routing table.

+

Each network (i.e., ip + mask) has its own record.

+
+

Public Functions

+
+
+inline Record(const Ip6Addr &ip, uint8_t mask)
+
+ +
+
+inline Record(const Ip6Addr &ip, uint8_t mask, const Interface::Name &n, Cost c, const Protocol *from = nullptr)
+
+ +
+
+inline bool addGateway(const Interface::Name &n, Cost c)
+

Add a new gateway for the given record.

+
+
Returns
+

true if the gateway was added.

+
+
+
+ +
+
+inline bool addGateway(Interface::Name n, Cost c, const Protocol *learnedFrom)
+

Overloaded version of the previous function.

+
+ +
+
+inline bool removeGateway(const Gateway &gw)
+

Remove given gateway.

+
+
Returns
+

true if the gateway was succesfully removed.

+
+
+
+ +
+
+inline bool removeGateway(const Interface::Name &n, Cost c, const Protocol *learnedFrom = nullptr)
+

Overloaded version of removeGateway.

+
+ +
+
+inline bool removeGateway(const Interface::Name &n)
+

Remove all gateways from the record with given interface name.

+
+ +
+
+inline Ip6Addr ip() const
+

Get Record’s IP.

+
+ +
+
+inline uint8_t mask() const
+

Get Record’s mask.

+
+ +
+
+inline std::size_t size() const
+

Get number of gateways.

+
+ +
+
+inline std::optional<Gateway> best() const
+

Get the best (with the lowest cost) gateway for given network if it exists.

+
+ +
+
+inline bool contains(const Gateway &gw) const
+

Check if a given gateway is present in the record.

+
+ +
+
+inline auto gateways() const
+

Get iterable range of Record’s gateways.

+
+ +
+
+inline bool compareNetworks(const Record &r) const
+
+ +
+
+inline bool compareNetworks(const Ip6Addr &ip, uint8_t mask) const
+
+ +
+
+auto operator<=>(const Record&) const = default
+
+ +
+
+ +
+ +
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/search.html b/branch/network-manager/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/network-manager/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+ +
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/network-manager/searchindex.js b/branch/network-manager/searchindex.js new file mode 100644 index 000000000..546351c31 --- /dev/null +++ b/branch/network-manager/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Netwokring","Interface","Routing table","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":27,"1":27,"2":27,"3":27,"4":27,"5":27,"6":27,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cli:23,cloneabl:12,code:[1,27],command:23,commun:27,compil:[1,2,27],compon:23,configur:[1,15,16,17,20,21,27],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:27,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:27,flag:20,flash:1,folder:27,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:27,helper:16,hiearchi:12,integr:7,interfac:[23,24],introduct:2,json:[18,19],line:23,macro:13,manag:[13,23],modul:[1,17,27,28],move:27,multi:16,multipl:27,netwokr:23,network:[9,23],note:7,object:12,option:[4,5],packet:27,pars:16,pattern:12,process:1,project:3,protocol:23,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,rout:25,run:[6,27],same:27,serial:[15,18,19],setup:27,simplesim:[1,27],simul:[1,27],solut:27,start:1,structur:[2,3],suit:[1,4,5],support:21,tabl:25,target:1,task:27,technic:0,test:6,tool:20,tutori:[26,27],type:[9,17,21],univers:[27,28],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:27,world:27,write:6,your:27}}) \ No newline at end of file diff --git a/branch/network-manager/tutorials/index.html b/branch/network-manager/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/network-manager/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/tutorials/simulator.html b/branch/network-manager/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/network-manager/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/network-manager/universalModule/index.html b/branch/network-manager/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/network-manager/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/_images/code.jpg b/branch/newSnakeExperiments/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/newSnakeExperiments/_images/code.jpg differ diff --git a/branch/newSnakeExperiments/_images/connector_photo.jpg b/branch/newSnakeExperiments/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/newSnakeExperiments/_images/connector_photo.jpg differ diff --git a/branch/newSnakeExperiments/_images/um_photo.jpg b/branch/newSnakeExperiments/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/newSnakeExperiments/_images/um_photo.jpg differ diff --git a/branch/newSnakeExperiments/_sources/index.rst.txt b/branch/newSnakeExperiments/_sources/index.rst.txt new file mode 100644 index 000000000..9f0696d86 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/index.rst.txt @@ -0,0 +1,41 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +================== =================== ================== +|Getting Started|_ +------------------ ------------------- ------------------ +`Getting Started`_ +------------------ ------------------- ------------------ +|RoFICoM|_ |Universal Module|_ |RoFI Library|_ +------------------ ------------------- ------------------ +`RoFICoM`_ `Universal Module`_ `RoFI Library`_ +================== =================== ================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + roficom/index + rofilib/index + universalModule/index + rofisim/index diff --git a/branch/newSnakeExperiments/_sources/intro/compiling.rst.txt b/branch/newSnakeExperiments/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..2d81dfd10 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/intro/compiling.rst.txt @@ -0,0 +1,219 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh -f Release + +This will setup your current shell for RoFI. This is indicated by a robot icon +prepended to you prompt: + +.. code-block:: sh + + 🤖 R $ + +If you don't want to alter you shell, simply omit ``-f``. The letter after the +robot icon indicates which configuration is currently active. If you want to +change the configuration, simply invoke ``source setup.sh -f Debug`` to e.g., +switch to a debug configuration. Or invoke ``teardown`` to return your shell to +original state. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **firmware**: Firmware for the microcontrollers on hardware modules. This + does not include the RoFI programs. Think of this as the part of the + hardware, that just have to be build separately. + +- **rofiFirmware**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + 🤖 R $ rcfg desktop firmware # Setup desktop and firmware suites + 🤖 R $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + 🤖 R $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + 🤖 R $ rmake desktop # Compile all targets from the suite desktop + 🤖 R $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + 🤖 R $ rmake tools/ # Compile all targets that are in the source tree under prefix + 🤖 R $ rmake tools/ doc # You can mix various types of targets + 🤖 R $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +.. _example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh -f Debug # Setup your terminal for compiling RoFI in Debug mode. + # Your prompt will change to indicate the environment + 🤖 D $ rcfg desktop doc # Configure the suites you want + 🤖 D $ rmake --all # Build everything you have configured + 🤖 D $ rmake tools/ # ... or build only all tools + 🤖 D $ rofi-vis # Run the compiled tool + + +Quick start GazeboSim example +------------------------------ + +To quickly start with simulating RoFI using GazeboSim, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh -f Debug # Setup your terminal for compiling RoFI in Debug mode. + # This also sets the necessary gazebo variables + 🤖 D $ rcfg desktop # Configure the desktop suite + 🤖 D $ rmake --all # Build everything you have configured + 🤖 D $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +In a different terminal, run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh -f Debug # Setup your terminal + 🤖 D $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example `examples/simulator/pythonInterface`: + +.. code-block:: sh + + 🤖 D $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/newSnakeExperiments/_sources/intro/index.rst.txt b/branch/newSnakeExperiments/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/newSnakeExperiments/_sources/intro/structure.rst.txt b/branch/newSnakeExperiments/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..30c48e9c6 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/intro/structure.rst.txt @@ -0,0 +1,36 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalPhys``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/newSnakeExperiments/_sources/intro/suites/desktop.rst.txt b/branch/newSnakeExperiments/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..cf61d41cd --- /dev/null +++ b/branch/newSnakeExperiments/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,36 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=9 `__: for APT-based system, install + ``libgazebo9-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/newSnakeExperiments/_sources/intro/suites/doc.rst.txt b/branch/newSnakeExperiments/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..a721c05fb --- /dev/null +++ b/branch/newSnakeExperiments/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,24 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, Recommonmark, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe sphinx-rtd-theme recommonmark + + +Build options +------------- + +There are no build options. \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/intro/testing.rst.txt b/branch/newSnakeExperiments/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/newSnakeExperiments/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/newSnakeExperiments/_sources/roficom/index.rst.txt b/branch/newSnakeExperiments/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..829fa120c --- /dev/null +++ b/branch/newSnakeExperiments/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFiCoM +======= + diff --git a/branch/newSnakeExperiments/_sources/rofilib/atoms/containers.rst.txt b/branch/newSnakeExperiments/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..be90401ea --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::IdSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::IdSet + :project: lib \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/rofilib/atoms/index.rst.txt b/branch/newSnakeExperiments/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..62eb7f2a2 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,13 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + resources + containers \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/rofilib/atoms/patterns.rst.txt b/branch/newSnakeExperiments/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..649df005f --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/rofilib/atoms/resources.rst.txt b/branch/newSnakeExperiments/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..b45de79ab --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embded Resources Management +=========================== + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/rofilib/configuration.rst.txt b/branch/newSnakeExperiments/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..a8a638986 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,42 @@ +Configuration +============= + +Here you are supposed to say the general idea behind the configuration +representation and also list its capabilities. (e.g., you create and instance, +put modules, then you have to compute the matrix, etc.) + +Feel free to add code examples. + + +Types and Constants +------------------- + +.. doxygentypedef:: ID + :project: lib + +.. doxygenenum:: Joint + :project: lib + +.. doxygenenum:: ShoeId + :project: lib + +.. doxygenenum:: ConnectorId + :project: lib + +.. doxygenenum:: Orientation + :project: lib + +Classes +------- + +.. doxygenclass:: Module + :project: lib + +.. doxygenclass:: Edge + :project: lib + +.. doxygenclass:: Action + :project: lib + +.. doxygenclass:: Configuration + :project: lib \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/rofilib/index.rst.txt b/branch/newSnakeExperiments/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..472d0194a --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofilib/index.rst.txt @@ -0,0 +1,8 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + atoms/index + configuration \ No newline at end of file diff --git a/branch/newSnakeExperiments/_sources/rofisim/index.rst.txt b/branch/newSnakeExperiments/_sources/rofisim/index.rst.txt new file mode 100644 index 000000000..9836a54c1 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofisim/index.rst.txt @@ -0,0 +1,5 @@ +RoFISim +========= + +.. toctree:: + rofihal diff --git a/branch/newSnakeExperiments/_sources/rofisim/rofihal.rst.txt b/branch/newSnakeExperiments/_sources/rofisim/rofihal.rst.txt new file mode 100644 index 000000000..1948e17e8 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/rofisim/rofihal.rst.txt @@ -0,0 +1,45 @@ +======== +RoFI Hal +======== + +This is the same hal as for the physical RoFI. + + +Types and Constants +=================== + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: sim + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: sim + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: sim + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: sim + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: sim + + +Classes +======= + +.. doxygenclass:: rofi::hal::RoFI + :project: sim + +.. doxygenclass:: rofi::hal::Joint + :project: sim + +.. doxygenclass:: rofi::hal::Connector + :project: sim + + +Networking +========== + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/newSnakeExperiments/_sources/universalModule/index.rst.txt b/branch/newSnakeExperiments/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/newSnakeExperiments/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/newSnakeExperiments/_static/basic.css b/branch/newSnakeExperiments/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/newSnakeExperiments/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar ---------------------------------------------------------------- */ + +div.related { + width: 100%; + font-size: 90%; +} + +div.related h3 { + display: none; +} + +div.related ul { + margin: 0; + padding: 0 0 0 10px; + list-style: none; +} + +div.related li { + display: inline; +} + +div.related li.right { + float: right; + margin-right: 5px; +} + +/* -- sidebar --------------------------------------------------------------- */ + +div.sphinxsidebarwrapper { + padding: 10px 5px 0 10px; +} + +div.sphinxsidebar { + float: left; + width: 230px; + margin-left: -100%; + font-size: 90%; + word-wrap: break-word; + overflow-wrap : 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index 000000000..e1bfd708b --- /dev/null +++ b/branch/newSnakeExperiments/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/newSnakeExperiments/_static/documentation_options.js b/branch/newSnakeExperiments/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/newSnakeExperiments/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/newSnakeExperiments/_static/file.png b/branch/newSnakeExperiments/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/newSnakeExperiments/_static/file.png differ diff --git a/branch/newSnakeExperiments/_static/jquery-3.5.1.js b/branch/newSnakeExperiments/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/newSnakeExperiments/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | C + | E + | I + | J + | L + | M + | R + | S + +
+

A

+ + + +
+ +

C

+ + + +
+ +

E

+ + + +
+ +

I

+ + +
+ +

J

+ + + +
+ +

L

+ + +
+ +

M

+ + + +
+ +

R

+ + + +
+ +

S

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/index.html b/branch/newSnakeExperiments/index.html new file mode 100644 index 000000000..9b8f52702 --- /dev/null +++ b/branch/newSnakeExperiments/index.html @@ -0,0 +1,210 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Getting Started

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

RoFI Library

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/intro/compiling.html b/branch/newSnakeExperiments/intro/compiling.html new file mode 100644 index 000000000..04a82ab00 --- /dev/null +++ b/branch/newSnakeExperiments/intro/compiling.html @@ -0,0 +1,311 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh -f Release
+
+
+

This will setup your current shell for RoFI. This is indicated by a robot icon +prepended to you prompt:

+
🤖 R $
+
+
+

If you don’t want to alter you shell, simply omit -f. The letter after the +robot icon indicates which configuration is currently active. If you want to +change the configuration, simply invoke source setup.sh -f Debug to e.g., +switch to a debug configuration. Or invoke teardown to return your shell to +original state.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • firmware: Firmware for the microcontrollers on hardware modules. This +does not include the RoFI programs. Think of this as the part of the +hardware, that just have to be build separately.

    • +

  • rofiFirmware: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
🤖 R $ rcfg desktop firmware                 # Setup desktop and firmware suites
+🤖 R $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+🤖 R $ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
🤖 R $ rmake desktop    # Compile all targets from the suite desktop
+🤖 R $ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+🤖 R $ rmake tools/     # Compile all targets that are in the source tree under prefix
+🤖 R $ rmake tools/ doc # You can mix various types of targets
+🤖 R $ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh -f Debug # Setup your terminal for compiling RoFI in Debug mode.
+                           # Your prompt will change to indicate the environment
+🤖 D $ rcfg desktop doc     # Configure the suites you want
+🤖 D $ rmake --all          # Build everything you have configured
+🤖 D $ rmake tools/         # ... or build only all tools
+🤖 D $ rofi-vis             # Run the compiled tool
+
+
+
+
+

Quick start GazeboSim example

+

To quickly start with simulating RoFI using GazeboSim, we provide a short step-by-step guide:

+
$ source setup.sh -f Debug                      # Setup your terminal for compiling RoFI in Debug mode.
+                                                # This also sets the necessary gazebo variables
+🤖 D $ rcfg desktop                              # Configure the desktop suite
+🤖 D $ rmake --all                               # Build everything you have configured
+🤖 D $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+

In a different terminal, run the module code for each module that you want to control:

+
$ source setup.sh -f Debug # Setup your terminal
+🤖 D $ basicJointPosition   # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
🤖 D $ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/intro/index.html b/branch/newSnakeExperiments/intro/index.html new file mode 100644 index 000000000..e1e5e1267 --- /dev/null +++ b/branch/newSnakeExperiments/intro/index.html @@ -0,0 +1,157 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/intro/structure.html b/branch/newSnakeExperiments/intro/structure.html new file mode 100644 index 000000000..eeedff8d7 --- /dev/null +++ b/branch/newSnakeExperiments/intro/structure.html @@ -0,0 +1,157 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalPhys: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/intro/suites/desktop.html b/branch/newSnakeExperiments/intro/suites/desktop.html new file mode 100644 index 000000000..ca6ef0a93 --- /dev/null +++ b/branch/newSnakeExperiments/intro/suites/desktop.html @@ -0,0 +1,163 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=9: for APT-based system, install +libgazebo9-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/intro/suites/doc.html b/branch/newSnakeExperiments/intro/suites/doc.html new file mode 100644 index 000000000..f7c585b32 --- /dev/null +++ b/branch/newSnakeExperiments/intro/suites/doc.html @@ -0,0 +1,146 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, Recommonmark, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe sphinx-rtd-theme recommonmark
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/intro/testing.html b/branch/newSnakeExperiments/intro/testing.html new file mode 100644 index 000000000..c0bd29362 --- /dev/null +++ b/branch/newSnakeExperiments/intro/testing.html @@ -0,0 +1,181 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/objects.inv b/branch/newSnakeExperiments/objects.inv new file mode 100644 index 000000000..7f4c6a0ee Binary files /dev/null and b/branch/newSnakeExperiments/objects.inv differ diff --git a/branch/newSnakeExperiments/roficom/index.html b/branch/newSnakeExperiments/roficom/index.html new file mode 100644 index 000000000..c5c574e81 --- /dev/null +++ b/branch/newSnakeExperiments/roficom/index.html @@ -0,0 +1,112 @@ + + + + + + + RoFiCoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFiCoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofilib/atoms/containers.html b/branch/newSnakeExperiments/rofilib/atoms/containers.html new file mode 100644 index 000000000..8ec89aded --- /dev/null +++ b/branch/newSnakeExperiments/rofilib/atoms/containers.html @@ -0,0 +1,273 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::IdSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class IdSet
+

std::vector-based set representation providing reusable integer ids for the inserted elements.

+

You are supposed to insert elements via IdSet::insert(), which returns unique element ID. Then you can acces this element using IdSet::operator[]() or erase it using IdSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using id_type = size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(IdSet &other)
+
+ +
+
+inline size_type size() const
+
+ +
+
+inline void shrink_to_fit()
+
+ +
+
+inline id_type insert(const T &value)
+

Insert new element and get its ID.

+
+ +
+
+template<typename TT = T>
inline auto insert(T &&value) -> std::enable_if_t<std::is_move_constructible_v<TT> && std::is_move_assignable_v<TT>, id_type>
+

Insert new element and get its ID.

+
+ +
+
+inline void erase(id_type id)
+

Erase element based on its ID.

+
+ +
+
+inline iterator begin() noexcept
+
+ +
+
+inline const_iterator begin() const noexcept
+
+ +
+
+inline const_iterator cbegin() const noexcept
+
+ +
+
+inline iterator end() noexcept
+
+ +
+
+inline const_iterator end() const noexcept
+
+ +
+
+inline const_iterator cend() const noexcept
+
+ +
+
+inline const_reference operator[](id_type id) const
+

Access element based on its ID.

+
+ +
+
+inline reference operator[](id_type id)
+

Access element based on its ID.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofilib/atoms/index.html b/branch/newSnakeExperiments/rofilib/atoms/index.html new file mode 100644 index 000000000..0488e5317 --- /dev/null +++ b/branch/newSnakeExperiments/rofilib/atoms/index.html @@ -0,0 +1,145 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofilib/atoms/patterns.html b/branch/newSnakeExperiments/rofilib/atoms/patterns.html new file mode 100644 index 000000000..697374fd0 --- /dev/null +++ b/branch/newSnakeExperiments/rofilib/atoms/patterns.html @@ -0,0 +1,436 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType &visitor)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to provide stable address or to allow virtual function calls) and provide deep copies.

+

It requires that T provides T *clone() const.

+
+

Public Functions

+
+
+inline ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline ValuePtr(const T &t)
+
+ +
+
+inline ValuePtr(const ValuePtr<T> &other)
+
+ +
+
+inline ValuePtr<T> &operator=(const ValuePtr<T> &other)
+
+ +
+
+inline ValuePtr(ValuePtr<T> &&other) noexcept
+
+ +
+
+inline ValuePtr<T> &operator=(ValuePtr<T> &&other)
+
+ +
+
+inline std::add_lvalue_reference<T>::type operator*() const
+
+ +
+
+inline auto operator->() const
+
+ +
+
+inline auto get() const
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofilib/atoms/resources.html b/branch/newSnakeExperiments/rofilib/atoms/resources.html new file mode 100644 index 000000000..8b3c835ff --- /dev/null +++ b/branch/newSnakeExperiments/rofilib/atoms/resources.html @@ -0,0 +1,231 @@ + + + + + + + Embded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, int count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, int count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofilib/configuration.html b/branch/newSnakeExperiments/rofilib/configuration.html new file mode 100644 index 000000000..4c0932cb3 --- /dev/null +++ b/branch/newSnakeExperiments/rofilib/configuration.html @@ -0,0 +1,705 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Here you are supposed to say the general idea behind the configuration +representation and also list its capabilities. (e.g., you create and instance, +put modules, then you have to compute the matrix, etc.)

+

Feel free to add code examples.

+
+

Types and Constants

+
+
+using ID = int
+
+ +
+
+enum Joint
+

Values:

+
+
+enumerator Alpha
+
+ +
+
+enumerator Beta
+
+ +
+
+enumerator Gamma
+
+ +
+ +
+
+enum ShoeId
+

Values:

+
+
+enumerator A
+
+ +
+
+enumerator B
+
+ +
+ +
+
+enum ConnectorId
+

Values:

+
+
+enumerator XPlus
+
+ +
+
+enumerator XMinus
+
+ +
+
+enumerator ZMinus
+
+ +
+ +
+
+enum class rofi::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class Module
+

Subclassed by DistributedModuleProperties

+
+

Public Functions

+
+
+inline Module(double alpha, double beta, double gamma, ID id)
+
+ +
+
+inline ID getId() const
+
+ +
+
+double getJoint(Joint a) const
+
+ +
+
+bool rotateJoint(Joint joint, double val)
+

Rotates joint.

+

Failure (returning false) in this method leaves the joint unchanged.

+

+Throws error if joint is not in enum

+
+
Returns
+

false if adding val makes value of joint overflow out of accepted range.

+
+
+
+ +
+
+bool setJoint(Joint joint, double val)
+

Sets joint.

+

+Throws error if joint is not in enum

+
+
Returns
+

false if val wasn’t in accepted range and thus value of joint wasn’t changed

+
+
+
+ +
+
+bool operator==(const Module &other) const
+
+ +
+
+ +
+
+class Edge
+
+

Public Functions

+
+
+inline Edge(ID id1, ShoeId side1, ConnectorId dock1, unsigned int ori, ConnectorId dock2, ShoeId side2, ID id2, double onCoeff = 1)
+
+ +
+
+inline ID id1() const
+
+ +
+
+inline ID id2() const
+
+ +
+
+inline ShoeId side1() const
+
+ +
+
+inline ShoeId side2() const
+
+ +
+
+inline ConnectorId dock1() const
+
+ +
+
+inline ConnectorId dock2() const
+
+ +
+
+inline unsigned int ori() const
+
+ +
+
+inline double onCoeff() const
+
+ +
+
+inline void setOnCoeff(double value)
+
+ +
+
+bool operator==(const Edge &other) const
+
+ +
+
+inline bool operator!=(const Edge &other) const
+
+ +
+
+ +
+
+class Action
+
+

Public Functions

+
+
+inline Action(std::vector<Rotate> rot, std::vector<Reconnect> rec)
+
+ +
+
+inline Action(const Rotate &rot)
+
+ +
+
+inline Action(const Reconnect &rec)
+
+ +
+
+Action divide(double factor) const
+
+ +
+
+inline std::vector<Rotate> rotations() const
+
+ +
+
+inline std::vector<Reconnect> reconnections() const
+
+ +
+
+inline bool empty() const
+
+ +
+
+
+class Reconnect
+
+

Public Functions

+
+
+inline Reconnect()
+
+ +
+
+inline Reconnect(bool add, const Edge &edge)
+
+ +
+
+inline bool add() const
+
+ +
+
+inline Edge edge() const
+
+ +
+
+bool operator==(const Reconnect &other) const
+
+ +
+
+inline bool operator!=(const Reconnect &other) const
+
+ +
+
+ +
+
+class Rotate
+
+

Public Functions

+
+
+inline Rotate()
+
+ +
+
+inline Rotate(ID id, Joint joint, double angle)
+
+ +
+
+inline ID id() const
+
+ +
+
+inline Joint joint() const
+
+ +
+
+inline double angle() const
+
+ +
+
+bool operator==(const Rotate &other) const
+
+ +
+
+inline bool operator!=(const Rotate &other) const
+
+ +
+
+ +
+ +
+
+class Configuration
+
+

Public Functions

+
+
+inline bool empty() const
+
+ +
+
+inline ModuleMap &getModules()
+
+ +
+
+inline const ModuleMap &getModules() const
+
+ +
+
+inline const EdgeMap &getEdges() const
+
+ +
+
+inline const MatrixMap &getMatrices() const
+
+ +
+
+inline ID getFixedId() const
+
+ +
+
+inline ShoeId getFixedSide() const
+
+ +
+
+Module &getModule(ID id)
+
+ +
+
+const Module &getModule(ID id) const
+
+ +
+
+std::vector<ID> getIDs() const
+
+ +
+
+std::vector<Edge> getEdges(ID id) const
+
+ +
+
+std::vector<Edge> getEdges(ID id, const std::unordered_set<ID> &exclude) const
+
+ +
+
+const std::unordered_map<ID, std::array<std::optional<Edge>, 6>> getSpanningSucc() const
+
+ +
+
+const std::unordered_map<ID, unsigned int> &getSpanningSuccCount() const
+
+ +
+
+const std::unordered_map<ID, std::optional<std::pair<ID, ShoeId>>> &getSpanningPred() const
+
+ +
+
+void addModule(double alpha, double beta, double gamma, ID id)
+
+ +
+
+bool addEdge(const Edge &edge)
+
+ +
+
+bool removeEdge(const Edge &edge)
+
+ +
+
+bool findEdge(const Edge &edge) const
+
+ +
+
+bool findConnection(const Edge &edge) const
+
+ +
+
+void setFixed(ID initID, ShoeId initSide, const Matrix &initRotation)
+
+ +
+
+bool isValid()
+
+ +
+
+bool computeMatrices()
+

Computes matrices for all shoes.

+

This method is called in method isValid.

+

User should call this if they create new configuration or they change some angles and they don’t call method isValid.

+
+
Returns
+

false if there is inconsistency in computing matrices, i.e. matrix for one shoe was computed two different ways and the results aren’t equal (rotated module, that couldn’t be rotated)

+
+
+
+ +
+
+Matrix computeConnectedMatrix(Edge edge) const
+

Computes matrix for shoe at the end of edge from shoe at the begining of edge.

+

For example, module with id = 1 is connected from shoe A to shoe B of module with id = 2. It takes matrix of shoe A of module 1 and computes matrix of shoe B of module 2 from that.

+

If neither matrix of shoes of the first module is computed, error is thrown.

+
+
Returns
+

Matrix of the shoe connected to the end of edge

+
+
+
+ +
+
+Matrix computeOtherSideMatrix(ID id, ShoeId side) const
+

Given id and side computes matrix for the other shoe of the given module.

+
+
Returns
+

Matrix of the other shoe of the given module

+
+
+
+ +
+
+bool connected()
+
+ +
+
+bool connected() const
+
+ +
+
+bool collisionFree()
+
+ +
+
+bool collisionFree() const
+
+ +
+
+Vector massCenter() const
+
+ +
+
+Vector getModuleMass(ID id) const
+
+ +
+
+bool execute(const Action &action)
+

Tries to execute given action.

+

False is returned if either you try to add edge to already occupied dock, erase non-existent edge, perform invalid rotation or configuration wasn’t connected before executing.

+

This function does NOT check if two modules collide during rotations. For this functionality use executeIfValid from Generators.h

+
+
Returns
+

True if action was executed without problems.

+
+
+
+ +
+
+Action diff(const Configuration &other) const
+
+ +
+
+inline bool operator==(const Configuration &other) const
+
+ +
+
+inline bool operator!=(const Configuration &other) const
+
+ +
+
+void clearEdges()
+
+ +
+
+bool computeSpanningTree()
+

Computes spanning tree of configuration.

+
+
Returns
+

True if configuration is connected, False if not.

+
+
+
+ +
+
+

Public Members

+
+
+friend ConfigurationHash
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofilib/index.html b/branch/newSnakeExperiments/rofilib/index.html new file mode 100644 index 000000000..98ace181a --- /dev/null +++ b/branch/newSnakeExperiments/rofilib/index.html @@ -0,0 +1,144 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofisim/index.html b/branch/newSnakeExperiments/rofisim/index.html new file mode 100644 index 000000000..4bea47ca9 --- /dev/null +++ b/branch/newSnakeExperiments/rofisim/index.html @@ -0,0 +1,125 @@ + + + + + + + RoFISim — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFISim

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/rofisim/rofihal.html b/branch/newSnakeExperiments/rofisim/rofihal.html new file mode 100644 index 000000000..3e9134475 --- /dev/null +++ b/branch/newSnakeExperiments/rofisim/rofihal.html @@ -0,0 +1,1034 @@ + + + + + + + RoFI Hal — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Hal

+

This is the same hal as for the physical RoFI.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator ConnectedPower
+
+ +
+
+enumerator DisconnectedPower
+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation : public std::enable_shared_from_this<Implementation>
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establishes connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callbacks registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the PBuf packet.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation : public std::enable_shared_from_this<Implementation>
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/search.html b/branch/newSnakeExperiments/search.html new file mode 100644 index 000000000..999b3982b --- /dev/null +++ b/branch/newSnakeExperiments/search.html @@ -0,0 +1,123 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+ +
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/newSnakeExperiments/searchindex.js b/branch/newSnakeExperiments/searchindex.js new file mode 100644 index 000000000..1ad47d4f9 --- /dev/null +++ b/branch/newSnakeExperiments/searchindex.js @@ -0,0 +1 @@ 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- Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFiCoM","Containers","Atoms","Patterns","Embded Resources Management","Configuration","RoFILib","RoFISim","RoFI Hal","Universal Module"],titleterms:{"class":[8,11,12,15],atom:9,build:[1,4,5],c:6,cloneabl:10,compil:[1,2],configur:12,constant:[12,15],contain:8,content:0,depend:[4,5],desktop:4,document:[0,5],embd:11,environ:1,exampl:1,gazebosim:1,hal:15,hiearchi:10,introduct:2,macro:11,manag:11,modul:16,network:15,object:10,option:[4,5],pattern:10,project:3,quick:1,refer:[8,11],resourc:11,rofi:[0,1,15],roficom:7,rofilib:13,rofisim:14,run:6,start:1,structur:[2,3],suit:[1,4,5],target:1,technic:0,test:6,type:[12,15],univers:16,usag:11,valueptr:10,visitor:10,write:6}}) \ No newline at end of file diff --git a/branch/newSnakeExperiments/universalModule/index.html b/branch/newSnakeExperiments/universalModule/index.html new file mode 100644 index 000000000..8918db6bb --- /dev/null +++ b/branch/newSnakeExperiments/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
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+

Universal Module

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+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/_images/code.jpg b/branch/newSnakeExperimentsRebased/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/newSnakeExperimentsRebased/_images/code.jpg differ diff --git a/branch/newSnakeExperimentsRebased/_images/connector_photo.jpg b/branch/newSnakeExperimentsRebased/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/newSnakeExperimentsRebased/_images/connector_photo.jpg differ diff --git a/branch/newSnakeExperimentsRebased/_images/um_photo.jpg b/branch/newSnakeExperimentsRebased/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/newSnakeExperimentsRebased/_images/um_photo.jpg differ diff --git a/branch/newSnakeExperimentsRebased/_sources/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/index.rst.txt new file mode 100644 index 000000000..8b49f5308 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/index.rst.txt @@ -0,0 +1,45 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +=================== =================== =================== +|Getting Started|_ |RoFI HAL|_ +------------------- ------------------- ------------------- +`Getting Started`_ `RoFI HAL`_ +------------------- ------------------- ------------------- +|RoFI Library|_ |RoFICoM|_ |Universal Module|_ +------------------- ------------------- ------------------- +`RoFI Library`_ `RoFICoM`_ `Universal Module`_ +=================== =================== =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/newSnakeExperimentsRebased/_sources/intro/compiling.rst.txt b/branch/newSnakeExperimentsRebased/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..8a59abd01 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/init.in # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/newSnakeExperimentsRebased/_sources/intro/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/newSnakeExperimentsRebased/_sources/intro/structure.rst.txt b/branch/newSnakeExperimentsRebased/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/newSnakeExperimentsRebased/_sources/intro/suites/desktop.rst.txt b/branch/newSnakeExperimentsRebased/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..a5f6f24a1 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,36 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/newSnakeExperimentsRebased/_sources/intro/suites/doc.rst.txt b/branch/newSnakeExperimentsRebased/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/newSnakeExperimentsRebased/_sources/intro/testing.rst.txt b/branch/newSnakeExperimentsRebased/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/newSnakeExperimentsRebased/_sources/roficom/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/newSnakeExperimentsRebased/_sources/rofihal/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/containers.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/patterns.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/resources.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/result.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/configuration.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..4fb43bd00 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,331 @@ +Configuration +============= + +Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks). + +Using the configuration is pretty straightforward. The main class is +:cpp:class:`Rofibot ` for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot's components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative). + +For example, let us create a small bot with two universal modules. + +.. code-block:: cpp + + #include + + // ... + + Rofibot bot; + // add universal module with id 42 in the default state + auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `bot` in hand, you can then prepare it (i.e., compute its positions) +and check for validity. + +.. code-block:: cpp + + bot.prepare(); + auto [ ok, err ] = bot.isValid( SimpleCollision() ); + if ( !ok ) + std::cerr << "invalid configuration: " << err << "\n"; + + // or you can shorten the above to + auto [ ok, err ] = bot.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto [ ok, err ] = bot.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::Rofibot + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Modules +------- + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration + +Serialization +------------- + +Configuration also supports serialization to and from `json `_ +format via functions `toJSON` and `fromJSON` respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +`nlohman::json `_ library. + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + Rofibot bot = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit – number >, + "max" : < upper-limit – number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, Rofibot::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/newSnakeExperimentsRebased/_sources/rofilib/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..560129115 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/rofilib/index.rst.txt @@ -0,0 +1,12 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + configuration + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/newSnakeExperimentsRebased/_sources/tutorials/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/newSnakeExperimentsRebased/_sources/tutorials/simulator.md.txt b/branch/newSnakeExperimentsRebased/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/newSnakeExperimentsRebased/_sources/universalModule/index.rst.txt b/branch/newSnakeExperimentsRebased/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/newSnakeExperimentsRebased/_static/basic.css b/branch/newSnakeExperimentsRebased/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + 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mode 100644 index 000000000..e1bfd708b --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/newSnakeExperimentsRebased/_static/documentation_options.js b/branch/newSnakeExperimentsRebased/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/_static/file.png b/branch/newSnakeExperimentsRebased/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/newSnakeExperimentsRebased/_static/file.png differ diff --git a/branch/newSnakeExperimentsRebased/_static/jquery-3.5.1.js b/branch/newSnakeExperimentsRebased/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/newSnakeExperimentsRebased/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/index.html b/branch/newSnakeExperimentsRebased/index.html new file mode 100644 index 000000000..866a3decb --- /dev/null +++ b/branch/newSnakeExperimentsRebased/index.html @@ -0,0 +1,260 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

RoFI HAL

Getting Started

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/intro/compiling.html b/branch/newSnakeExperimentsRebased/intro/compiling.html new file mode 100644 index 000000000..56c06122b --- /dev/null +++ b/branch/newSnakeExperimentsRebased/intro/compiling.html @@ -0,0 +1,384 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug                      # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop              # Configure the desktop suite and build it
+$ rofi-simplesim --help                      # Display help
+$ rofi-simplesim data/configurations/init.in # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/intro/index.html b/branch/newSnakeExperimentsRebased/intro/index.html new file mode 100644 index 000000000..e84a3df88 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/intro/index.html @@ -0,0 +1,165 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/intro/structure.html b/branch/newSnakeExperimentsRebased/intro/structure.html new file mode 100644 index 000000000..f1d9bb617 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/intro/structure.html @@ -0,0 +1,159 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/intro/suites/desktop.html b/branch/newSnakeExperimentsRebased/intro/suites/desktop.html new file mode 100644 index 000000000..48b09f779 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/intro/suites/desktop.html @@ -0,0 +1,166 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/intro/suites/doc.html b/branch/newSnakeExperimentsRebased/intro/suites/doc.html new file mode 100644 index 000000000..8d2e03b20 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/intro/suites/doc.html @@ -0,0 +1,153 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/intro/testing.html b/branch/newSnakeExperimentsRebased/intro/testing.html new file mode 100644 index 000000000..d63c1c534 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/intro/testing.html @@ -0,0 +1,182 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/objects.inv b/branch/newSnakeExperimentsRebased/objects.inv new file mode 100644 index 000000000..3a564e22e Binary files /dev/null and b/branch/newSnakeExperimentsRebased/objects.inv differ diff --git a/branch/newSnakeExperimentsRebased/roficom/index.html b/branch/newSnakeExperimentsRebased/roficom/index.html new file mode 100644 index 000000000..314d4e6b1 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/roficom/index.html @@ -0,0 +1,113 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofihal/index.html b/branch/newSnakeExperimentsRebased/rofihal/index.html new file mode 100644 index 000000000..b9e19e731 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofihal/index.html @@ -0,0 +1,1059 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/atoms/containers.html b/branch/newSnakeExperimentsRebased/rofilib/atoms/containers.html new file mode 100644 index 000000000..44e558890 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/atoms/containers.html @@ -0,0 +1,327 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/atoms/index.html b/branch/newSnakeExperimentsRebased/rofilib/atoms/index.html new file mode 100644 index 000000000..ef611eced --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/atoms/index.html @@ -0,0 +1,153 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/atoms/patterns.html b/branch/newSnakeExperimentsRebased/rofilib/atoms/patterns.html new file mode 100644 index 000000000..bede742de --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/atoms/patterns.html @@ -0,0 +1,458 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/atoms/resources.html b/branch/newSnakeExperimentsRebased/rofilib/atoms/resources.html new file mode 100644 index 000000000..a4f9382a3 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/atoms/resources.html @@ -0,0 +1,233 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/atoms/result.html b/branch/newSnakeExperimentsRebased/rofilib/atoms/result.html new file mode 100644 index 000000000..d69f4a442 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/atoms/result.html @@ -0,0 +1,905 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both *this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/configuration.html b/branch/newSnakeExperimentsRebased/rofilib/configuration.html new file mode 100644 index 000000000..4e47037cc --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/configuration.html @@ -0,0 +1,1409 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +Rofibot for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot’s components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative).

+

For example, let us create a small bot with two universal modules.

+
#include <configuration/rofibot.hpp>
+
+// ...
+
+Rofibot bot;
+// add universal module with id 42 in the default state
+auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the bot in hand, you can then prepare it (i.e., compute its positions) +and check for validity.

+
bot.prepare();
+auto [ ok, err ] = bot.isValid( SimpleCollision() );
+if ( !ok )
+    std::cerr << "invalid configuration: " << err << "\n";
+
+// or you can shorten the above to
+auto [ ok, err ] = bot.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto [ ok, err ] = bot.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator UmShoe
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator Roficom
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class Rofibot
+

RoFI bot.

+

The rofibot is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+Rofibot() = default
+
+ +
+
+inline Rofibot(const Rofibot &other)
+
+ +
+
+inline Rofibot(Rofibot &&other)
+
+ +
+
+inline Rofibot &operator=(Rofibot other)
+
+ +
+
+inline void swap(Rofibot &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the Rofibot.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+void prepare()
+

Precompute position of all the modules in the configuration.

+

Raises std::runtime_error if the configuration is inconsistent, and, therefore, it cannot be

+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its parental rofibot, if it’s in use, the ID is left the same and the method returns False. Otherwise the ID is changed. Returns True on success.

+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+inline void prepare()
+

Precompute component relative positions.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+Rofibot *parent
+

pointer to parenting Rofibot

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, Rofibot::ModuleInfoHandle sourceModule, Rofibot::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getSourceModule(const Rofibot &rofibot) const
+
+ +
+
+inline Module &getDestModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getDestModule(const Rofibot &rofibot) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+Rofibot::ModuleInfoHandle sourceModule
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same Rofibot that can be connected to.

+

Returns the connector and orientation Returns nullopt if no such connector exists

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, Rofibot::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Types

+
+
+enum UmParts
+

Values:

+
+
+enumerator UmBodyA
+
+ +
+
+enumerator UmBodyB
+
+ +
+
+enumerator UmShoeA
+
+ +
+
+enumerator UmShoeB
+
+ +
+ +
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline const auto &getConnector(const std::string &cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(const std::string &cStr)
+
+ +
+
+static std::string translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+Rofibot::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+

Requires that both modules belong to the same Rofibot, otherwise std::logic_error is thrown.

+
+ +
+
+template<typename JointT, typename ...Args>
Rofibot::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+

First argument specified the component, the rest of the arguments are forwarded

+

Returns ID of the joint which can be used for setting parameters of the joint

+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+Rofibot bot = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot, Callback attrCb)
+

Serialize given Rofibot to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot)
+
+ +
+
+template<typename Callback>
inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a Rofibot from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a Rofibot

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, Rofibot::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/rofilib/index.html b/branch/newSnakeExperimentsRebased/rofilib/index.html new file mode 100644 index 000000000..2db289b72 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/rofilib/index.html @@ -0,0 +1,160 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/search.html b/branch/newSnakeExperimentsRebased/search.html new file mode 100644 index 000000000..0eaab93c3 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/search.html @@ -0,0 +1,124 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
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    • +
+
+
+
+
+ + + + +
+ +
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+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/searchindex.js b/branch/newSnakeExperimentsRebased/searchindex.js new file mode 100644 index 000000000..7e7430fd6 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/searchindex.js @@ -0,0 +1 @@ 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- Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal 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a/branch/newSnakeExperimentsRebased/tutorials/index.html b/branch/newSnakeExperimentsRebased/tutorials/index.html new file mode 100644 index 000000000..25110543b --- /dev/null +++ b/branch/newSnakeExperimentsRebased/tutorials/index.html @@ -0,0 +1,152 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
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+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/tutorials/simulator.html b/branch/newSnakeExperimentsRebased/tutorials/simulator.html new file mode 100644 index 000000000..8be4538a8 --- /dev/null +++ b/branch/newSnakeExperimentsRebased/tutorials/simulator.html @@ -0,0 +1,409 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
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+ +
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+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/newSnakeExperimentsRebased/universalModule/index.html b/branch/newSnakeExperimentsRebased/universalModule/index.html new file mode 100644 index 000000000..0114687ac --- /dev/null +++ b/branch/newSnakeExperimentsRebased/universalModule/index.html @@ -0,0 +1,111 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/_images/code.jpg b/branch/pybind_configuration/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/pybind_configuration/_images/code.jpg differ diff --git a/branch/pybind_configuration/_images/connector_photo.jpg b/branch/pybind_configuration/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/pybind_configuration/_images/connector_photo.jpg differ diff --git a/branch/pybind_configuration/_images/um_photo.jpg b/branch/pybind_configuration/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/pybind_configuration/_images/um_photo.jpg differ diff --git a/branch/pybind_configuration/_sources/index.rst.txt b/branch/pybind_configuration/_sources/index.rst.txt new file mode 100644 index 000000000..8b49f5308 --- /dev/null +++ b/branch/pybind_configuration/_sources/index.rst.txt @@ -0,0 +1,45 @@ +RoFI - Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + + +=================== =================== =================== +|Getting Started|_ |RoFI HAL|_ +------------------- ------------------- ------------------- +`Getting Started`_ `RoFI HAL`_ +------------------- ------------------- ------------------- +|RoFI Library|_ |RoFICoM|_ |Universal Module|_ +------------------- ------------------- ------------------- +`RoFI Library`_ `RoFICoM`_ `Universal Module`_ +=================== =================== =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/pybind_configuration/_sources/intro/compiling.rst.txt b/branch/pybind_configuration/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/pybind_configuration/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/pybind_configuration/_sources/intro/index.rst.txt b/branch/pybind_configuration/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/pybind_configuration/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/pybind_configuration/_sources/intro/structure.rst.txt b/branch/pybind_configuration/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/pybind_configuration/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/pybind_configuration/_sources/intro/suites/desktop.rst.txt b/branch/pybind_configuration/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..82ecd6570 --- /dev/null +++ b/branch/pybind_configuration/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,37 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/pybind_configuration/_sources/intro/suites/doc.rst.txt b/branch/pybind_configuration/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/pybind_configuration/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/pybind_configuration/_sources/intro/testing.rst.txt b/branch/pybind_configuration/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/pybind_configuration/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/pybind_configuration/_sources/roficom/index.rst.txt b/branch/pybind_configuration/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/pybind_configuration/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/pybind_configuration/_sources/rofihal/index.rst.txt b/branch/pybind_configuration/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/pybind_configuration/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/pybind_configuration/_sources/rofilib/atoms/containers.rst.txt b/branch/pybind_configuration/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/pybind_configuration/_sources/rofilib/atoms/index.rst.txt b/branch/pybind_configuration/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/pybind_configuration/_sources/rofilib/atoms/patterns.rst.txt b/branch/pybind_configuration/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/pybind_configuration/_sources/rofilib/atoms/resources.rst.txt b/branch/pybind_configuration/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/pybind_configuration/_sources/rofilib/atoms/result.rst.txt b/branch/pybind_configuration/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/pybind_configuration/_sources/rofilib/configuration.rst.txt b/branch/pybind_configuration/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..4fb43bd00 --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,331 @@ +Configuration +============= + +Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks). + +Using the configuration is pretty straightforward. The main class is +:cpp:class:`Rofibot ` for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot's components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative). + +For example, let us create a small bot with two universal modules. + +.. code-block:: cpp + + #include + + // ... + + Rofibot bot; + // add universal module with id 42 in the default state + auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `bot` in hand, you can then prepare it (i.e., compute its positions) +and check for validity. + +.. code-block:: cpp + + bot.prepare(); + auto [ ok, err ] = bot.isValid( SimpleCollision() ); + if ( !ok ) + std::cerr << "invalid configuration: " << err << "\n"; + + // or you can shorten the above to + auto [ ok, err ] = bot.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto [ ok, err ] = bot.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::Rofibot + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Modules +------- + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration + +Serialization +------------- + +Configuration also supports serialization to and from `json `_ +format via functions `toJSON` and `fromJSON` respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +`nlohman::json `_ library. + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + Rofibot bot = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit – number >, + "max" : < upper-limit – number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const Rofibot& bot ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, Rofibot::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/pybind_configuration/_sources/rofilib/index.rst.txt b/branch/pybind_configuration/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..560129115 --- /dev/null +++ b/branch/pybind_configuration/_sources/rofilib/index.rst.txt @@ -0,0 +1,12 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + configuration + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/pybind_configuration/_sources/tutorials/index.rst.txt b/branch/pybind_configuration/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/pybind_configuration/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/pybind_configuration/_sources/tutorials/simulator.md.txt b/branch/pybind_configuration/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/pybind_configuration/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/pybind_configuration/_sources/universalModule/index.rst.txt b/branch/pybind_configuration/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/pybind_configuration/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/pybind_configuration/_static/basic.css b/branch/pybind_configuration/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/pybind_configuration/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + 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index 000000000..e1bfd708b --- /dev/null +++ b/branch/pybind_configuration/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/pybind_configuration/_static/documentation_options.js b/branch/pybind_configuration/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/pybind_configuration/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/pybind_configuration/_static/file.png b/branch/pybind_configuration/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/pybind_configuration/_static/file.png differ diff --git a/branch/pybind_configuration/_static/jquery-3.5.1.js b/branch/pybind_configuration/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/pybind_configuration/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/index.html b/branch/pybind_configuration/index.html new file mode 100644 index 000000000..866a3decb --- /dev/null +++ b/branch/pybind_configuration/index.html @@ -0,0 +1,260 @@ + + + + + + + RoFI - Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI - Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

RoFI HAL

Getting Started

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/intro/compiling.html b/branch/pybind_configuration/intro/compiling.html new file mode 100644 index 000000000..8c312444f --- /dev/null +++ b/branch/pybind_configuration/intro/compiling.html @@ -0,0 +1,384 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/intro/index.html b/branch/pybind_configuration/intro/index.html new file mode 100644 index 000000000..e84a3df88 --- /dev/null +++ b/branch/pybind_configuration/intro/index.html @@ -0,0 +1,165 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/intro/structure.html b/branch/pybind_configuration/intro/structure.html new file mode 100644 index 000000000..f1d9bb617 --- /dev/null +++ b/branch/pybind_configuration/intro/structure.html @@ -0,0 +1,159 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/intro/suites/desktop.html b/branch/pybind_configuration/intro/suites/desktop.html new file mode 100644 index 000000000..8b90fbffe --- /dev/null +++ b/branch/pybind_configuration/intro/suites/desktop.html @@ -0,0 +1,167 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/intro/suites/doc.html b/branch/pybind_configuration/intro/suites/doc.html new file mode 100644 index 000000000..8d2e03b20 --- /dev/null +++ b/branch/pybind_configuration/intro/suites/doc.html @@ -0,0 +1,153 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/intro/testing.html b/branch/pybind_configuration/intro/testing.html new file mode 100644 index 000000000..d63c1c534 --- /dev/null +++ b/branch/pybind_configuration/intro/testing.html @@ -0,0 +1,182 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/objects.inv b/branch/pybind_configuration/objects.inv new file mode 100644 index 000000000..9f589f523 Binary files /dev/null and b/branch/pybind_configuration/objects.inv differ diff --git a/branch/pybind_configuration/roficom/index.html b/branch/pybind_configuration/roficom/index.html new file mode 100644 index 000000000..314d4e6b1 --- /dev/null +++ b/branch/pybind_configuration/roficom/index.html @@ -0,0 +1,113 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofihal/index.html b/branch/pybind_configuration/rofihal/index.html new file mode 100644 index 000000000..b9e19e731 --- /dev/null +++ b/branch/pybind_configuration/rofihal/index.html @@ -0,0 +1,1059 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/atoms/containers.html b/branch/pybind_configuration/rofilib/atoms/containers.html new file mode 100644 index 000000000..44e558890 --- /dev/null +++ b/branch/pybind_configuration/rofilib/atoms/containers.html @@ -0,0 +1,327 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/atoms/index.html b/branch/pybind_configuration/rofilib/atoms/index.html new file mode 100644 index 000000000..ef611eced --- /dev/null +++ b/branch/pybind_configuration/rofilib/atoms/index.html @@ -0,0 +1,153 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/atoms/patterns.html b/branch/pybind_configuration/rofilib/atoms/patterns.html new file mode 100644 index 000000000..bede742de --- /dev/null +++ b/branch/pybind_configuration/rofilib/atoms/patterns.html @@ -0,0 +1,458 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/atoms/resources.html b/branch/pybind_configuration/rofilib/atoms/resources.html new file mode 100644 index 000000000..a4f9382a3 --- /dev/null +++ b/branch/pybind_configuration/rofilib/atoms/resources.html @@ -0,0 +1,233 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/atoms/result.html b/branch/pybind_configuration/rofilib/atoms/result.html new file mode 100644 index 000000000..d69f4a442 --- /dev/null +++ b/branch/pybind_configuration/rofilib/atoms/result.html @@ -0,0 +1,905 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether *this contains a value.

+
+
Return values
+
    +

  • true – if *this contains a value.

    • +

  • false – if *this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both *this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/configuration.html b/branch/pybind_configuration/rofilib/configuration.html new file mode 100644 index 000000000..9eb59faba --- /dev/null +++ b/branch/pybind_configuration/rofilib/configuration.html @@ -0,0 +1,1400 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every rofibot and work +with it. Configuration computes positions of every component within the bot +and provides useful functions for manipulation with such rofibot, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +Rofibot for which you create an +instance and add all the modules you have within one bot. You have to connect +them appropriately and if you want to use absolute positions, you have to +fix one of the bot’s components in space (otherwise, the configuration cannot +figure out its coordinates because everything is kept relative).

+

For example, let us create a small bot with two universal modules.

+
#include <configuration/rofibot.hpp>
+
+// ...
+
+Rofibot bot;
+// add universal module with id 42 in the default state
+auto& m1 = bot.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = bot.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the bot in hand, you can then prepare it (i.e., compute its positions) +and check for validity.

+
bot.prepare();
+auto [ ok, err ] = bot.isValid( SimpleCollision() );
+if ( !ok )
+    std::cerr << "invalid configuration: " << err << "\n";
+
+// or you can shorten the above to
+auto [ ok, err ] = bot.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto [ ok, err ] = bot.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator UmShoe
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator Roficom
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class Rofibot
+

RoFI bot.

+

The rofibot is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+Rofibot() = default
+
+ +
+
+inline Rofibot(const Rofibot &other)
+
+ +
+
+inline Rofibot(Rofibot &&other)
+
+ +
+
+inline Rofibot &operator=(Rofibot other)
+
+ +
+
+inline void swap(Rofibot &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the Rofibot.

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the rofibot.

+

Returns a reference to the newly created module.

+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the Rofibot.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the Rofibot.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline std::pair<bool, std::string> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

A pair - first item indicates the validity, the second one gives textual description of the reason for invalidity

+
+
+
+ +
+
+void prepare()
+

Precompute position of all the modules in the configuration.

+

Raises std::runtime_error if the configuration is inconsistent, and, therefore, it cannot be

+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its parental rofibot, if it’s in use, the ID is left the same and the method returns False. Otherwise the ID is changed. Returns True on success.

+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+

Raises std::logic_error if the components are not prepared

+
+ +
+
+inline void prepare()
+

Precompute component relative positions.

+

Raises std::logic_error if the components are inconsistent

+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+Rofibot *parent
+

pointer to parenting Rofibot

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, Rofibot::ModuleInfoHandle sourceModule, Rofibot::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getSourceModule(const Rofibot &rofibot) const
+
+ +
+
+inline Module &getDestModule(Rofibot &rofibot) const
+
+ +
+
+inline const Module &getDestModule(const Rofibot &rofibot) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+Rofibot::ModuleInfoHandle sourceModule
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same Rofibot that can be connected to.

+

Returns the connector and orientation Returns nullopt if no such connector exists

+

Raises std::logic_error if the rofibot is not prepared

+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, Rofibot::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+Rofibot::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(const std::string &cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(const std::string &cStr)
+
+ +
+
+static std::string translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+Rofibot::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+

Requires that both modules belong to the same Rofibot, otherwise std::logic_error is thrown.

+
+ +
+
+template<typename JointT, typename ...Args>
Rofibot::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+

First argument specified the component, the rest of the arguments are forwarded

+

Returns ID of the joint which can be used for setting parameters of the joint

+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+Rofibot bot = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot, Callback attrCb)
+

Serialize given Rofibot to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const Rofibot &bot)
+
+ +
+
+template<typename Callback>
inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a Rofibot from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a Rofibot

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline Rofibot rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, Rofibot::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, Rofibot::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/rofilib/index.html b/branch/pybind_configuration/rofilib/index.html new file mode 100644 index 000000000..2db289b72 --- /dev/null +++ b/branch/pybind_configuration/rofilib/index.html @@ -0,0 +1,160 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/search.html b/branch/pybind_configuration/search.html new file mode 100644 index 000000000..0eaab93c3 --- /dev/null +++ b/branch/pybind_configuration/search.html @@ -0,0 +1,124 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/pybind_configuration/searchindex.js b/branch/pybind_configuration/searchindex.js new file mode 100644 index 000000000..fe22ea909 --- /dev/null +++ b/branch/pybind_configuration/searchindex.js @@ -0,0 +1 @@ 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pan:14,special:[12,13],specif:[1,10,14],specifi:[1,6,11,12,13,14,17],speed:[6,8],spheric:14,sphinx:5,split:17,ssh:2,stabl:11,stack:1,standard:[1,9,17],start:[0,2,6,8,12,17],state:[1,8,14],static_cast:13,statu:8,std:[8,9,11,12,13,14,17],stderr:6,stdout:6,step:1,stl:1,stm32:1,stodest:14,stop:17,store:[9,11,14,17],str:13,straightforward:14,string:[8,11,12,13,14],struct:[8,11,13,14],structur:[0,11],studi:3,subclass:14,success:14,successor:11,suit:[0,2,6,17],suitabl:[13,14],suitenam:[1,6],support:14,suppos:9,sure:[1,17],swap:[8,9,11,14],symbol:12,synchron:17,system:[4,5,14],t:[6,9,11,13,17],tab:[1,6],take:[8,11,14],target:[0,2,3,6],target_link_librari:17,task:[0,11,16],teardown:1,tediou:11,templat:[9,11,13,14],temporari:12,termin:1,test:[0,1,2,12,17],test_file_bmp:12,testtargetnam:6,text:14,textual:14,textur:12,thei:[1,10,17],them:[1,6,11,14],theme:5,theori:10,therefor:[1,11,12,14],thi:[0,1,2,3,4,5,6,8,9,11,12,13,14,17],think:[1,17],thread:17,three:[8,14],throughout:15,thrown:14,thu:[1,4],tidi:1,time:[9,17],to_str:13,togeth:17,tojson:14,too:14,tool:[1,3,4,5],top:4,topic:0,topology2dot:1,torqu:8,trace:1,tradit:11,transform:[13,14],transform_error:13,translat:14,translatecompon:14,tree:1,true_typ:13,ts:11,tutori:[0,1,3,6],twice:6,two:[1,13,14,17],two_modul:1,txt:17,type:[0,1,9,11,13,15],typedef:8,typenam:[9,11,13,14],typeplacehold:13,typevisitor:11,typic:11,uint16_t:8,uint8_t:8,um:14,umbodi:14,umsho:14,unconfigur:1,under:1,underli:1,underscor:12,uniqu:[8,9,12,14],unique_ptr:11,unit:[1,6],univers:[0,3,14,16],universalmodul:[3,14],unknown:14,unknownmodul:14,unnecessari:11,unsign:13,unus:9,up:[1,2,4,6],updat:17,upper:14,us:[1,3,4,5,6,8,9,10,11,12,13,14,15,17],usag:[0,1,10,14,15],usecas:13,user:[6,12,13,14],usual:[1,6,12],util:[10,13],v:1,val:13,valid:[12,14],valu:[8,9,11,13,14,17],value0:13,value42:13,value_or:13,value_typ:[8,9,13],valueptr:[0,10,14,15],valuet:13,variabl:[1,17],variant:13,variou:[1,14],vector:[9,13,14],veloc:8,verbos:1,version:[0,1,17],vi:[1,13],via:[1,4,5,6,8,9,11,12,14],video:3,view:14,virtual:[8,11,14],visit:[11,14],visitablebas:[11,14],visitor:[0,10,15],visitortyp:11,visual:[1,4],voltag:8,vtk:[4,12],wa:12,wai:[11,13,14,17],wait:[8,17],walkthrough:[0,16],want:[1,11,14],we:[1,2,3,6,11,14],welcom:2,well:13,went:6,were:14,west:[8,14],what:[6,11,17],when:[1,8,11,12,13,14,17],whenev:1,where:[1,14,17],whether:[3,4,13,14,17],which:[1,8,9,11,12,14,17],whole:[3,6],width:14,wikipedia:11,window:1,within:14,without:[6,11,12],won:[11,17],work:[1,3,8,11,12,13,14,17],worktre:1,world:[0,1,16],would:1,wrapper:8,write:[0,2,14],written:[6,14],wrong:6,x:[12,14,17],y:17,you:[0,1,2,3,5,6,8,9,11,12,13,14,17],your:[0,1,6,8,11,12,14,16],z3:4,z:17,zero:[6,8],zip:1},titles:["RoFI - Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":17,"1":17,"2":17,"3":17,"4":17,"5":17,"6":17,"class":[8,9,12,13,14],"function":[13,14],advanc:1,atom:10,attribut:14,build:[1,4,5],c:6,callback:14,cloneabl:11,code:[1,17],commun:17,compil:[1,2,17],configur:[1,14,17],constant:[8,14],contain:9,content:0,creat:17,depend:[4,5],desktop:4,document:[0,5],embed:12,environ:1,exampl:1,filter:17,flash:1,folder:17,gazebosim:1,hal:8,hardwar:1,hello:17,hiearchi:11,introduct:2,macro:12,manag:12,modul:[1,14,17,18],move:17,multipl:17,network:8,object:11,option:[4,5],packet:17,pattern:11,process:1,project:3,quick:1,refer:[9,12,13],resourc:12,result:13,robot:1,rofi:[0,1,8],roficom:7,rofilib:15,run:[6,17],same:17,serial:14,setup:17,simplesim:[1,17],simul:[1,17],solut:17,start:1,structur:[2,3],suit:[1,4,5],target:1,task:17,technic:0,test:6,tutori:[16,17],type:[8,14],univers:[17,18],usag:[12,13],valueptr:11,visitor:11,walkthrough:17,world:17,write:6,your:17}}) \ No newline at end of file diff --git a/branch/pybind_configuration/tutorials/index.html b/branch/pybind_configuration/tutorials/index.html new file mode 100644 index 000000000..25110543b --- /dev/null +++ b/branch/pybind_configuration/tutorials/index.html @@ -0,0 +1,152 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
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+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/tutorials/simulator.html b/branch/pybind_configuration/tutorials/simulator.html new file mode 100644 index 000000000..8be4538a8 --- /dev/null +++ b/branch/pybind_configuration/tutorials/simulator.html @@ -0,0 +1,409 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
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+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/pybind_configuration/universalModule/index.html b/branch/pybind_configuration/universalModule/index.html new file mode 100644 index 000000000..0114687ac --- /dev/null +++ b/branch/pybind_configuration/universalModule/index.html @@ -0,0 +1,111 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/_images/code.jpg b/branch/shapeReconfigExperiments/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/shapeReconfigExperiments/_images/code.jpg differ diff --git a/branch/shapeReconfigExperiments/_images/connector_photo.jpg b/branch/shapeReconfigExperiments/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/shapeReconfigExperiments/_images/connector_photo.jpg differ diff --git a/branch/shapeReconfigExperiments/_images/um_photo.jpg b/branch/shapeReconfigExperiments/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/shapeReconfigExperiments/_images/um_photo.jpg differ diff --git a/branch/shapeReconfigExperiments/_sources/index.rst.txt b/branch/shapeReconfigExperiments/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/shapeReconfigExperiments/_sources/intro/compiling.rst.txt b/branch/shapeReconfigExperiments/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/shapeReconfigExperiments/_sources/intro/index.rst.txt b/branch/shapeReconfigExperiments/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/shapeReconfigExperiments/_sources/intro/structure.rst.txt b/branch/shapeReconfigExperiments/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/shapeReconfigExperiments/_sources/intro/suites/desktop.rst.txt b/branch/shapeReconfigExperiments/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/shapeReconfigExperiments/_sources/intro/suites/doc.rst.txt b/branch/shapeReconfigExperiments/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/shapeReconfigExperiments/_sources/intro/testing.rst.txt b/branch/shapeReconfigExperiments/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/shapeReconfigExperiments/_sources/releng/index.rst.txt b/branch/shapeReconfigExperiments/_sources/releng/index.rst.txt new file mode 100644 index 000000000..a62e23529 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/releng/index.rst.txt @@ -0,0 +1,37 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. + diff --git a/branch/shapeReconfigExperiments/_sources/roficom/index.rst.txt b/branch/shapeReconfigExperiments/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/shapeReconfigExperiments/_sources/rofihal/index.rst.txt b/branch/shapeReconfigExperiments/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/atoms/containers.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/atoms/index.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/atoms/patterns.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/atoms/resources.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/atoms/result.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/index.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/configurations/voxel.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/shapeReconfigExperiments/_sources/rofilib/index.rst.txt b/branch/shapeReconfigExperiments/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/shapeReconfigExperiments/_sources/tutorials/index.rst.txt b/branch/shapeReconfigExperiments/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/shapeReconfigExperiments/_sources/tutorials/simulator.md.txt b/branch/shapeReconfigExperiments/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/shapeReconfigExperiments/_sources/universalModule/index.rst.txt b/branch/shapeReconfigExperiments/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/shapeReconfigExperiments/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/shapeReconfigExperiments/_static/basic.css b/branch/shapeReconfigExperiments/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/shapeReconfigExperiments/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + 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100644 index 000000000..e1bfd708b --- /dev/null +++ b/branch/shapeReconfigExperiments/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/shapeReconfigExperiments/_static/documentation_options.js b/branch/shapeReconfigExperiments/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/shapeReconfigExperiments/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/_static/file.png b/branch/shapeReconfigExperiments/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/shapeReconfigExperiments/_static/file.png differ diff --git a/branch/shapeReconfigExperiments/_static/jquery-3.5.1.js b/branch/shapeReconfigExperiments/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/shapeReconfigExperiments/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/index.html b/branch/shapeReconfigExperiments/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/shapeReconfigExperiments/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/intro/compiling.html b/branch/shapeReconfigExperiments/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/shapeReconfigExperiments/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/intro/index.html b/branch/shapeReconfigExperiments/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/shapeReconfigExperiments/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/intro/structure.html b/branch/shapeReconfigExperiments/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/shapeReconfigExperiments/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/intro/suites/desktop.html b/branch/shapeReconfigExperiments/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/shapeReconfigExperiments/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/intro/suites/doc.html b/branch/shapeReconfigExperiments/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/shapeReconfigExperiments/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/intro/testing.html b/branch/shapeReconfigExperiments/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/shapeReconfigExperiments/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/objects.inv b/branch/shapeReconfigExperiments/objects.inv new file mode 100644 index 000000000..f84a13fcb Binary files /dev/null and b/branch/shapeReconfigExperiments/objects.inv differ diff --git a/branch/shapeReconfigExperiments/releng/index.html b/branch/shapeReconfigExperiments/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/shapeReconfigExperiments/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/roficom/index.html b/branch/shapeReconfigExperiments/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/shapeReconfigExperiments/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofihal/index.html b/branch/shapeReconfigExperiments/rofihal/index.html new file mode 100644 index 000000000..53ad14cd6 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofihal/index.html @@ -0,0 +1,1133 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/atoms/containers.html b/branch/shapeReconfigExperiments/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/atoms/index.html b/branch/shapeReconfigExperiments/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/atoms/patterns.html b/branch/shapeReconfigExperiments/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/atoms/resources.html b/branch/shapeReconfigExperiments/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/atoms/result.html b/branch/shapeReconfigExperiments/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/index.html b/branch/shapeReconfigExperiments/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/parsing_in_cpp.html b/branch/shapeReconfigExperiments/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/rofiworld.html b/branch/shapeReconfigExperiments/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..c6c539acd --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/serializations/json.html b/branch/shapeReconfigExperiments/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/serializations/voxel.html b/branch/shapeReconfigExperiments/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/tooling_usage.html b/branch/shapeReconfigExperiments/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/configurations/voxel.html b/branch/shapeReconfigExperiments/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/rofilib/index.html b/branch/shapeReconfigExperiments/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/shapeReconfigExperiments/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/search.html b/branch/shapeReconfigExperiments/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/shapeReconfigExperiments/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
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  • Search
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+
+
+
+
+ + + + +
+ +
+ +
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+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/searchindex.js b/branch/shapeReconfigExperiments/searchindex.js new file mode 100644 index 000000000..30761d9a3 --- /dev/null +++ b/branch/shapeReconfigExperiments/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/tutorials/index.html b/branch/shapeReconfigExperiments/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/shapeReconfigExperiments/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/tutorials/simulator.html b/branch/shapeReconfigExperiments/tutorials/simulator.html new file mode 100644 index 000000000..588d093c8 --- /dev/null +++ b/branch/shapeReconfigExperiments/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/shapeReconfigExperiments/universalModule/index.html b/branch/shapeReconfigExperiments/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/shapeReconfigExperiments/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/_images/code.jpg b/branch/simpleAABB/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/simpleAABB/_images/code.jpg differ diff --git a/branch/simpleAABB/_images/connector_photo.jpg b/branch/simpleAABB/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/simpleAABB/_images/connector_photo.jpg differ diff --git a/branch/simpleAABB/_images/um_photo.jpg b/branch/simpleAABB/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/simpleAABB/_images/um_photo.jpg differ diff --git a/branch/simpleAABB/_sources/index.rst.txt b/branch/simpleAABB/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/simpleAABB/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/simpleAABB/_sources/intro/compiling.rst.txt b/branch/simpleAABB/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/simpleAABB/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/simpleAABB/_sources/intro/index.rst.txt b/branch/simpleAABB/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/simpleAABB/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/simpleAABB/_sources/intro/structure.rst.txt b/branch/simpleAABB/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/simpleAABB/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/simpleAABB/_sources/intro/suites/desktop.rst.txt b/branch/simpleAABB/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..82ecd6570 --- /dev/null +++ b/branch/simpleAABB/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,37 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/simpleAABB/_sources/intro/suites/doc.rst.txt b/branch/simpleAABB/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/simpleAABB/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/simpleAABB/_sources/intro/testing.rst.txt b/branch/simpleAABB/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/simpleAABB/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/simpleAABB/_sources/releng/index.rst.txt b/branch/simpleAABB/_sources/releng/index.rst.txt new file mode 100644 index 000000000..a62e23529 --- /dev/null +++ b/branch/simpleAABB/_sources/releng/index.rst.txt @@ -0,0 +1,37 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. + diff --git a/branch/simpleAABB/_sources/roficom/index.rst.txt b/branch/simpleAABB/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/simpleAABB/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/simpleAABB/_sources/rofihal/index.rst.txt b/branch/simpleAABB/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/simpleAABB/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/simpleAABB/_sources/rofilib/atoms/containers.rst.txt b/branch/simpleAABB/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/simpleAABB/_sources/rofilib/atoms/index.rst.txt b/branch/simpleAABB/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/simpleAABB/_sources/rofilib/atoms/patterns.rst.txt b/branch/simpleAABB/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/simpleAABB/_sources/rofilib/atoms/resources.rst.txt b/branch/simpleAABB/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/simpleAABB/_sources/rofilib/atoms/result.rst.txt b/branch/simpleAABB/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/simpleAABB/_sources/rofilib/configuration.rst.txt b/branch/simpleAABB/_sources/rofilib/configuration.rst.txt new file mode 100644 index 000000000..e7740d416 --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/configuration.rst.txt @@ -0,0 +1,335 @@ +Configuration +============= + +Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every RoFI world -- a set +of rofibots (self-contained bots fixed in space) -- and work with it. +Configuration computes positions of every component within each bot and +provides useful functions for manipulation with the whole world, including +some validity checks (e.g., collision checks). + +Using the configuration is pretty straightforward. The main class is +:cpp:class:`RofiWorld ` for which you create an +instance and add all the modules you want to have in the world. You have to +connect these modules one to another appropriately to form individual rofibots. +If you want to use absolute positions, you have to fix one of components of each +bot in space, otherwise, the configuration cannot figure out its coordinates +because everything is kept relative. + +For example, let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e., compute positions of each +part -- bot -- of the world) and check for its validity. + +.. code-block:: cpp + + auto prepared = world.prepare(); + if ( !prepared ) + std::cerr << "could not prepare configuration: " << prepared.assume_error() << "\n"; + auto valid = world.isValid( SimpleCollision() ); + if ( !valid ) + std::cerr << "invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Modules +------- + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration + +Serialization +------------- + +Configuration also supports serialization to and from `json `_ +format via functions `toJSON` and `fromJSON` respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +`nlohman::json `_ library. + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit – number >, + "max" : < upper-limit – number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/simpleAABB/_sources/rofilib/index.rst.txt b/branch/simpleAABB/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..560129115 --- /dev/null +++ b/branch/simpleAABB/_sources/rofilib/index.rst.txt @@ -0,0 +1,12 @@ +RoFILib +======= + +The main building block is :cpp:class:`Configuration`. + +.. toctree:: + configuration + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/simpleAABB/_sources/tutorials/index.rst.txt b/branch/simpleAABB/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/simpleAABB/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/simpleAABB/_sources/tutorials/simulator.md.txt b/branch/simpleAABB/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/simpleAABB/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/simpleAABB/_sources/universalModule/index.rst.txt b/branch/simpleAABB/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/simpleAABB/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/simpleAABB/_static/basic.css b/branch/simpleAABB/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/simpleAABB/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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000000000..e1bfd708b --- /dev/null +++ b/branch/simpleAABB/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/simpleAABB/_static/documentation_options.js b/branch/simpleAABB/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/simpleAABB/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/simpleAABB/_static/file.png b/branch/simpleAABB/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/simpleAABB/_static/file.png differ diff --git a/branch/simpleAABB/_static/jquery-3.5.1.js b/branch/simpleAABB/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/simpleAABB/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/index.html b/branch/simpleAABB/index.html new file mode 100644 index 000000000..a12aaae00 --- /dev/null +++ b/branch/simpleAABB/index.html @@ -0,0 +1,266 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/intro/compiling.html b/branch/simpleAABB/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/simpleAABB/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/intro/index.html b/branch/simpleAABB/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/simpleAABB/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/intro/structure.html b/branch/simpleAABB/intro/structure.html new file mode 100644 index 000000000..c901208ed --- /dev/null +++ b/branch/simpleAABB/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/intro/suites/desktop.html b/branch/simpleAABB/intro/suites/desktop.html new file mode 100644 index 000000000..665ed7e6e --- /dev/null +++ b/branch/simpleAABB/intro/suites/desktop.html @@ -0,0 +1,168 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/intro/suites/doc.html b/branch/simpleAABB/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/simpleAABB/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/intro/testing.html b/branch/simpleAABB/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/simpleAABB/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/objects.inv b/branch/simpleAABB/objects.inv new file mode 100644 index 000000000..b394ba492 Binary files /dev/null and b/branch/simpleAABB/objects.inv differ diff --git a/branch/simpleAABB/releng/index.html b/branch/simpleAABB/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/simpleAABB/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/roficom/index.html b/branch/simpleAABB/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/simpleAABB/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofihal/index.html b/branch/simpleAABB/rofihal/index.html new file mode 100644 index 000000000..a4b3458c5 --- /dev/null +++ b/branch/simpleAABB/rofihal/index.html @@ -0,0 +1,1060 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void wait(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – delay in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/atoms/containers.html b/branch/simpleAABB/rofilib/atoms/containers.html new file mode 100644 index 000000000..7e0e4e3ae --- /dev/null +++ b/branch/simpleAABB/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/atoms/index.html b/branch/simpleAABB/rofilib/atoms/index.html new file mode 100644 index 000000000..9546c50dd --- /dev/null +++ b/branch/simpleAABB/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/atoms/patterns.html b/branch/simpleAABB/rofilib/atoms/patterns.html new file mode 100644 index 000000000..40f350cf7 --- /dev/null +++ b/branch/simpleAABB/rofilib/atoms/patterns.html @@ -0,0 +1,459 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/atoms/resources.html b/branch/simpleAABB/rofilib/atoms/resources.html new file mode 100644 index 000000000..388c4f618 --- /dev/null +++ b/branch/simpleAABB/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/atoms/result.html b/branch/simpleAABB/rofilib/atoms/result.html new file mode 100644 index 000000000..8c9b0d90a --- /dev/null +++ b/branch/simpleAABB/rofilib/atoms/result.html @@ -0,0 +1,1044 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/configuration.html b/branch/simpleAABB/rofilib/configuration.html new file mode 100644 index 000000000..f514c802b --- /dev/null +++ b/branch/simpleAABB/rofilib/configuration.html @@ -0,0 +1,1535 @@ + + + + + + + Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configuration

+

Configuration is a way of representing any bot in an universal manner. It +contains all building-blocks of the RoFI platform such as various modules +and joints. Using these blocks, you can specify every RoFI world – a set +of rofibots (self-contained bots fixed in space) – and work with it. +Configuration computes positions of every component within each bot and +provides useful functions for manipulation with the whole world, including +some validity checks (e.g., collision checks).

+

Using the configuration is pretty straightforward. The main class is +RofiWorld for which you create an +instance and add all the modules you want to have in the world. You have to +connect these modules one to another appropriately to form individual rofibots. +If you want to use absolute positions, you have to fix one of components of each +bot in space, otherwise, the configuration cannot figure out its coordinates +because everything is kept relative.

+

For example, let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e., compute positions of each +part – bot – of the world) and check for its validity.

+
auto prepared = world.prepare();
+if ( !prepared )
+    std::cerr << "could not prepare configuration: " << prepared.assume_error() << "\n";
+auto valid = world.isValid( SimpleCollision() );
+if ( !valid )
+    std::cerr << "invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline const auto &modules() const
+

Get a container of ModuleInfo.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Modules

+
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+

Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON and fromJSON respectively, so that you can save your +configuration into a file and load it as needed. For the json itself we use +nlohman::json library.

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit – number >,
+    "max" : < upper-limit – number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/rofilib/index.html b/branch/simpleAABB/rofilib/index.html new file mode 100644 index 000000000..8f6f4825b --- /dev/null +++ b/branch/simpleAABB/rofilib/index.html @@ -0,0 +1,161 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is Configuration.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/search.html b/branch/simpleAABB/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/simpleAABB/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+ +
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/simpleAABB/searchindex.js b/branch/simpleAABB/searchindex.js new file mode 100644 index 000000000..b5b4f202f --- /dev/null +++ b/branch/simpleAABB/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal 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file diff --git a/branch/simpleAABB/tutorials/index.html b/branch/simpleAABB/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/simpleAABB/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/tutorials/simulator.html b/branch/simpleAABB/tutorials/simulator.html new file mode 100644 index 000000000..588d093c8 --- /dev/null +++ b/branch/simpleAABB/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simpleAABB/universalModule/index.html b/branch/simpleAABB/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/simpleAABB/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/_images/code.jpg b/branch/simplesim-orchestrator/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/simplesim-orchestrator/_images/code.jpg differ diff --git a/branch/simplesim-orchestrator/_images/connector_photo.jpg b/branch/simplesim-orchestrator/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/simplesim-orchestrator/_images/connector_photo.jpg differ diff --git a/branch/simplesim-orchestrator/_images/um_photo.jpg b/branch/simplesim-orchestrator/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/simplesim-orchestrator/_images/um_photo.jpg differ diff --git a/branch/simplesim-orchestrator/_sources/index.rst.txt b/branch/simplesim-orchestrator/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/simplesim-orchestrator/_sources/intro/compiling.rst.txt b/branch/simplesim-orchestrator/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/simplesim-orchestrator/_sources/intro/index.rst.txt b/branch/simplesim-orchestrator/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/simplesim-orchestrator/_sources/intro/structure.rst.txt b/branch/simplesim-orchestrator/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/simplesim-orchestrator/_sources/intro/suites/desktop.rst.txt b/branch/simplesim-orchestrator/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/simplesim-orchestrator/_sources/intro/suites/doc.rst.txt b/branch/simplesim-orchestrator/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/simplesim-orchestrator/_sources/intro/testing.rst.txt b/branch/simplesim-orchestrator/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/simplesim-orchestrator/_sources/releng/index.rst.txt b/branch/simplesim-orchestrator/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/simplesim-orchestrator/_sources/roficom/index.rst.txt b/branch/simplesim-orchestrator/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/simplesim-orchestrator/_sources/rofihal/index.rst.txt b/branch/simplesim-orchestrator/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/atoms/containers.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/atoms/index.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/simplesim-orchestrator/_sources/rofilib/atoms/patterns.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/atoms/resources.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/atoms/result.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/index.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/simplesim-orchestrator/_sources/rofilib/configurations/voxel.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/simplesim-orchestrator/_sources/rofilib/index.rst.txt b/branch/simplesim-orchestrator/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/simplesim-orchestrator/_sources/tutorials/index.rst.txt b/branch/simplesim-orchestrator/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/simplesim-orchestrator/_sources/tutorials/simulator.md.txt b/branch/simplesim-orchestrator/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/simplesim-orchestrator/_sources/universalModule/index.rst.txt b/branch/simplesim-orchestrator/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/simplesim-orchestrator/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/simplesim-orchestrator/_static/basic.css b/branch/simplesim-orchestrator/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/simplesim-orchestrator/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: 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100644 index 000000000..e1bfd708b --- /dev/null +++ b/branch/simplesim-orchestrator/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/simplesim-orchestrator/_static/documentation_options.js b/branch/simplesim-orchestrator/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/simplesim-orchestrator/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/simplesim-orchestrator/_static/file.png b/branch/simplesim-orchestrator/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/simplesim-orchestrator/_static/file.png differ diff --git a/branch/simplesim-orchestrator/_static/jquery-3.5.1.js b/branch/simplesim-orchestrator/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/simplesim-orchestrator/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/index.html b/branch/simplesim-orchestrator/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/simplesim-orchestrator/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/intro/compiling.html b/branch/simplesim-orchestrator/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/simplesim-orchestrator/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/intro/index.html b/branch/simplesim-orchestrator/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/simplesim-orchestrator/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/intro/structure.html b/branch/simplesim-orchestrator/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/simplesim-orchestrator/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/intro/suites/desktop.html b/branch/simplesim-orchestrator/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/simplesim-orchestrator/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/intro/suites/doc.html b/branch/simplesim-orchestrator/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/simplesim-orchestrator/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/intro/testing.html b/branch/simplesim-orchestrator/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/simplesim-orchestrator/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/objects.inv b/branch/simplesim-orchestrator/objects.inv new file mode 100644 index 000000000..7c051fb0a Binary files /dev/null and b/branch/simplesim-orchestrator/objects.inv differ diff --git a/branch/simplesim-orchestrator/releng/index.html b/branch/simplesim-orchestrator/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/simplesim-orchestrator/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/roficom/index.html b/branch/simplesim-orchestrator/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/simplesim-orchestrator/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofihal/index.html b/branch/simplesim-orchestrator/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/simplesim-orchestrator/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/atoms/containers.html b/branch/simplesim-orchestrator/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/atoms/index.html b/branch/simplesim-orchestrator/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/atoms/patterns.html b/branch/simplesim-orchestrator/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/atoms/resources.html b/branch/simplesim-orchestrator/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/atoms/result.html b/branch/simplesim-orchestrator/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/index.html b/branch/simplesim-orchestrator/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/parsing_in_cpp.html b/branch/simplesim-orchestrator/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/rofiworld.html b/branch/simplesim-orchestrator/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..b0481f30c --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/serializations/json.html b/branch/simplesim-orchestrator/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/serializations/voxel.html b/branch/simplesim-orchestrator/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/tooling_usage.html b/branch/simplesim-orchestrator/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/configurations/voxel.html b/branch/simplesim-orchestrator/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/rofilib/index.html b/branch/simplesim-orchestrator/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/simplesim-orchestrator/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/search.html b/branch/simplesim-orchestrator/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/simplesim-orchestrator/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
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+
+
+
+
+ + + + +
+ +
+ +
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+ +
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+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/searchindex.js b/branch/simplesim-orchestrator/searchindex.js new file mode 100644 index 000000000..af688cfbe --- /dev/null +++ b/branch/simplesim-orchestrator/searchindex.js @@ -0,0 +1 @@ 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13,17],unique_ptr:12,unit:[1,6,17],univers:[0,3,15,17,18,21,23],universalmodul:[3,17,21],universalmodulejointvisitor:12,unknown:17,unknownmodul:[17,18],unnecessari:12,unprepar:16,unsign:14,unus:10,up:[1,2,4,6,7,17],updat:[7,9,24],updatedockerimag:7,updatepartit:9,upper:18,us:[1,3,4,5,6,7,9,10,11,12,13,14,16,17,18,20,21,22,24],usag:[0,1,11,22],usecas:14,user:[6,13,14,17],usual:[1,6,13,16],util:[11,14],v:1,val:14,valid:[9,13,16,17,19],validatedrofiworldseq:16,validaterofiworldseq:16,valu:[9,10,12,14,16,17,18,20,21,24],value0:14,value42:14,value_or:14,value_typ:[9,10,14,16],valueptr:[0,11,17,22],valuet:14,variabl:[1,24],variant:14,variou:[1,17],vector:[10,14,16,17,18,21],veloc:9,verbos:1,version:[0,1,24],vi:[1,14],via:[1,4,5,6,7,9,10,12,13,17,18],video:3,view:17,viki:16,virtual:[9,12,17],visit:[12,17],visitablebas:[12,17],visitor:[0,11,22],visitortyp:12,visual:[1,4,20],voltag:9,voxel:[0,15,16,20,22],voxelworld:[19,20,21],vtk:[4,13],wa:[9,13,17],wai:[12,14,15,17,18,24],wait:[9,24],walkthrough:[0,23],want:[1,12,16,17,21],we:[1,2,3,6,12,18],welcom:2,well:14,went:6,were:18,west:[9,17],what:[6,12,24],when:[1,9,12,13,14,16,18,20,21,24],whenev:1,where:[1,18,19,24],whether:[3,4,14,16,17,20,21,24],which:[1,7,9,10,12,13,15,16,17,18,21,24],whole:[3,6,17,21],width:[17,18],wikipedia:12,window:1,within:[17,18],without:[6,12,13,16],won:[12,24],work:[1,3,9,12,13,14,17,18,24],workflow:7,worktre:1,world:[0,1,16,17,18,19,20,21,23],worldformat:16,worldseq:16,worldt:16,would:1,wrapper:9,write:[0,2,9,16,18],writerofiworld:16,writerofiworldseq:16,written:[6,18],wrong:6,x:[13,17,18,19,21,24],xplusconndirect:21,y:[19,21,24],yet:21,yml:7,you:[0,1,2,3,5,6,7,9,10,12,13,14,16,17,18,21,24],your:[0,1,6,9,12,13,18,23],z3:4,z:[19,21,24],zconndirect:21,zero:[6,9,21],zip:1},titles:["RoFI \u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/simplesim-orchestrator/tutorials/index.html b/branch/simplesim-orchestrator/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/simplesim-orchestrator/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/tutorials/simulator.html b/branch/simplesim-orchestrator/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/simplesim-orchestrator/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simplesim-orchestrator/universalModule/index.html b/branch/simplesim-orchestrator/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/simplesim-orchestrator/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/_images/code.jpg b/branch/simulatorCommandLine/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/simulatorCommandLine/_images/code.jpg differ diff --git a/branch/simulatorCommandLine/_images/connector_photo.jpg b/branch/simulatorCommandLine/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/simulatorCommandLine/_images/connector_photo.jpg differ diff --git a/branch/simulatorCommandLine/_images/um_photo.jpg b/branch/simulatorCommandLine/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/simulatorCommandLine/_images/um_photo.jpg differ diff --git a/branch/simulatorCommandLine/_sources/index.rst.txt b/branch/simulatorCommandLine/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/simulatorCommandLine/_sources/intro/compiling.rst.txt b/branch/simulatorCommandLine/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/simulatorCommandLine/_sources/intro/index.rst.txt b/branch/simulatorCommandLine/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/simulatorCommandLine/_sources/intro/structure.rst.txt b/branch/simulatorCommandLine/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/simulatorCommandLine/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/simulatorCommandLine/_sources/intro/suites/desktop.rst.txt b/branch/simulatorCommandLine/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/simulatorCommandLine/_sources/intro/suites/doc.rst.txt b/branch/simulatorCommandLine/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/simulatorCommandLine/_sources/intro/testing.rst.txt b/branch/simulatorCommandLine/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/simulatorCommandLine/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/simulatorCommandLine/_sources/releng/index.rst.txt b/branch/simulatorCommandLine/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/simulatorCommandLine/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/simulatorCommandLine/_sources/roficom/index.rst.txt b/branch/simulatorCommandLine/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/simulatorCommandLine/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/simulatorCommandLine/_sources/rofihal/index.rst.txt b/branch/simulatorCommandLine/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/atoms/containers.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/atoms/index.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/simulatorCommandLine/_sources/rofilib/atoms/patterns.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/atoms/resources.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/atoms/result.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/index.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/simulatorCommandLine/_sources/rofilib/configurations/voxel.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/simulatorCommandLine/_sources/rofilib/index.rst.txt b/branch/simulatorCommandLine/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/simulatorCommandLine/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/simulatorCommandLine/_sources/tutorials/index.rst.txt b/branch/simulatorCommandLine/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/simulatorCommandLine/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/simulatorCommandLine/_sources/tutorials/simulator.md.txt b/branch/simulatorCommandLine/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/simulatorCommandLine/_sources/universalModule/index.rst.txt b/branch/simulatorCommandLine/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/simulatorCommandLine/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/simulatorCommandLine/_static/basic.css b/branch/simulatorCommandLine/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/simulatorCommandLine/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: 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index 000000000..e1bfd708b --- /dev/null +++ b/branch/simulatorCommandLine/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/simulatorCommandLine/_static/documentation_options.js b/branch/simulatorCommandLine/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/simulatorCommandLine/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/simulatorCommandLine/_static/file.png b/branch/simulatorCommandLine/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/simulatorCommandLine/_static/file.png differ diff --git a/branch/simulatorCommandLine/_static/jquery-3.5.1.js b/branch/simulatorCommandLine/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/simulatorCommandLine/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/index.html b/branch/simulatorCommandLine/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/simulatorCommandLine/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/intro/compiling.html b/branch/simulatorCommandLine/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/simulatorCommandLine/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/intro/index.html b/branch/simulatorCommandLine/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/simulatorCommandLine/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/intro/structure.html b/branch/simulatorCommandLine/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/simulatorCommandLine/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/intro/suites/desktop.html b/branch/simulatorCommandLine/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/simulatorCommandLine/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/intro/suites/doc.html b/branch/simulatorCommandLine/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/simulatorCommandLine/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/intro/testing.html b/branch/simulatorCommandLine/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/simulatorCommandLine/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/objects.inv b/branch/simulatorCommandLine/objects.inv new file mode 100644 index 000000000..7c051fb0a Binary files /dev/null and b/branch/simulatorCommandLine/objects.inv differ diff --git a/branch/simulatorCommandLine/releng/index.html b/branch/simulatorCommandLine/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/simulatorCommandLine/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/roficom/index.html b/branch/simulatorCommandLine/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/simulatorCommandLine/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofihal/index.html b/branch/simulatorCommandLine/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/simulatorCommandLine/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/atoms/containers.html b/branch/simulatorCommandLine/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/atoms/index.html b/branch/simulatorCommandLine/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/atoms/patterns.html b/branch/simulatorCommandLine/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/atoms/resources.html b/branch/simulatorCommandLine/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/atoms/result.html b/branch/simulatorCommandLine/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/index.html b/branch/simulatorCommandLine/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/parsing_in_cpp.html b/branch/simulatorCommandLine/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/rofiworld.html b/branch/simulatorCommandLine/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..b0481f30c --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/serializations/json.html b/branch/simulatorCommandLine/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/serializations/voxel.html b/branch/simulatorCommandLine/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/tooling_usage.html b/branch/simulatorCommandLine/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/configurations/voxel.html b/branch/simulatorCommandLine/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/rofilib/index.html b/branch/simulatorCommandLine/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/simulatorCommandLine/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/search.html b/branch/simulatorCommandLine/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/simulatorCommandLine/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
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+
+
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+ + + + + + + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/searchindex.js b/branch/simulatorCommandLine/searchindex.js new file mode 100644 index 000000000..af688cfbe --- /dev/null +++ b/branch/simulatorCommandLine/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/simulatorCommandLine/tutorials/index.html b/branch/simulatorCommandLine/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/simulatorCommandLine/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/tutorials/simulator.html b/branch/simulatorCommandLine/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/simulatorCommandLine/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/simulatorCommandLine/universalModule/index.html b/branch/simulatorCommandLine/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/simulatorCommandLine/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/_images/code.jpg b/branch/tree-reconfig/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/tree-reconfig/_images/code.jpg differ diff --git a/branch/tree-reconfig/_images/connector_photo.jpg b/branch/tree-reconfig/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/tree-reconfig/_images/connector_photo.jpg differ diff --git a/branch/tree-reconfig/_images/um_photo.jpg b/branch/tree-reconfig/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/tree-reconfig/_images/um_photo.jpg differ diff --git a/branch/tree-reconfig/_sources/index.rst.txt b/branch/tree-reconfig/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/tree-reconfig/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/tree-reconfig/_sources/intro/compiling.rst.txt b/branch/tree-reconfig/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/tree-reconfig/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/tree-reconfig/_sources/intro/index.rst.txt b/branch/tree-reconfig/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/tree-reconfig/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/tree-reconfig/_sources/intro/structure.rst.txt b/branch/tree-reconfig/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/tree-reconfig/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/tree-reconfig/_sources/intro/suites/desktop.rst.txt b/branch/tree-reconfig/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/tree-reconfig/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/tree-reconfig/_sources/intro/suites/doc.rst.txt b/branch/tree-reconfig/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/tree-reconfig/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/tree-reconfig/_sources/intro/testing.rst.txt b/branch/tree-reconfig/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/tree-reconfig/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/tree-reconfig/_sources/releng/index.rst.txt b/branch/tree-reconfig/_sources/releng/index.rst.txt new file mode 100644 index 000000000..a62e23529 --- /dev/null +++ b/branch/tree-reconfig/_sources/releng/index.rst.txt @@ -0,0 +1,37 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. + diff --git a/branch/tree-reconfig/_sources/roficom/index.rst.txt b/branch/tree-reconfig/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/tree-reconfig/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/tree-reconfig/_sources/rofihal/index.rst.txt b/branch/tree-reconfig/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/tree-reconfig/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/atoms/containers.rst.txt b/branch/tree-reconfig/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/atoms/index.rst.txt b/branch/tree-reconfig/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/tree-reconfig/_sources/rofilib/atoms/patterns.rst.txt b/branch/tree-reconfig/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/atoms/resources.rst.txt b/branch/tree-reconfig/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/atoms/result.rst.txt b/branch/tree-reconfig/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/index.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/tree-reconfig/_sources/rofilib/configurations/voxel.rst.txt b/branch/tree-reconfig/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/tree-reconfig/_sources/rofilib/index.rst.txt b/branch/tree-reconfig/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/tree-reconfig/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/tree-reconfig/_sources/tutorials/index.rst.txt b/branch/tree-reconfig/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/tree-reconfig/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/tree-reconfig/_sources/tutorials/simulator.md.txt b/branch/tree-reconfig/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/tree-reconfig/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/tree-reconfig/_sources/universalModule/index.rst.txt b/branch/tree-reconfig/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/tree-reconfig/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/tree-reconfig/_static/basic.css b/branch/tree-reconfig/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/tree-reconfig/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/tree-reconfig/_static/documentation_options.js b/branch/tree-reconfig/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/tree-reconfig/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/tree-reconfig/_static/file.png b/branch/tree-reconfig/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/tree-reconfig/_static/file.png differ diff --git a/branch/tree-reconfig/_static/jquery-3.5.1.js b/branch/tree-reconfig/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/tree-reconfig/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/index.html b/branch/tree-reconfig/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/tree-reconfig/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/intro/compiling.html b/branch/tree-reconfig/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/tree-reconfig/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/intro/index.html b/branch/tree-reconfig/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/tree-reconfig/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/intro/structure.html b/branch/tree-reconfig/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/tree-reconfig/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/intro/suites/desktop.html b/branch/tree-reconfig/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/tree-reconfig/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/intro/suites/doc.html b/branch/tree-reconfig/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/tree-reconfig/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/intro/testing.html b/branch/tree-reconfig/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/tree-reconfig/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/objects.inv b/branch/tree-reconfig/objects.inv new file mode 100644 index 000000000..8e147a191 Binary files /dev/null and b/branch/tree-reconfig/objects.inv differ diff --git a/branch/tree-reconfig/releng/index.html b/branch/tree-reconfig/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/tree-reconfig/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/roficom/index.html b/branch/tree-reconfig/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/tree-reconfig/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofihal/index.html b/branch/tree-reconfig/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/tree-reconfig/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/atoms/containers.html b/branch/tree-reconfig/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/tree-reconfig/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/atoms/index.html b/branch/tree-reconfig/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/tree-reconfig/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/atoms/patterns.html b/branch/tree-reconfig/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/tree-reconfig/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/atoms/resources.html b/branch/tree-reconfig/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/tree-reconfig/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/atoms/result.html b/branch/tree-reconfig/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/tree-reconfig/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/index.html b/branch/tree-reconfig/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/parsing_in_cpp.html b/branch/tree-reconfig/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/rofiworld.html b/branch/tree-reconfig/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..ea3441be9 --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/rofiworld.html @@ -0,0 +1,1355 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/serializations/json.html b/branch/tree-reconfig/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/serializations/voxel.html b/branch/tree-reconfig/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/tooling_usage.html b/branch/tree-reconfig/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/configurations/voxel.html b/branch/tree-reconfig/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/tree-reconfig/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/rofilib/index.html b/branch/tree-reconfig/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/tree-reconfig/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/search.html b/branch/tree-reconfig/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/tree-reconfig/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
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  • Search
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+
+
+
+
+ + + + +
+ +
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+ + + + + + + + + \ No newline at end of file diff --git a/branch/tree-reconfig/searchindex.js b/branch/tree-reconfig/searchindex.js new file mode 100644 index 000000000..d2343bc84 --- /dev/null +++ b/branch/tree-reconfig/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/tree-reconfig/tutorials/index.html b/branch/tree-reconfig/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/tree-reconfig/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/tutorials/simulator.html b/branch/tree-reconfig/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/tree-reconfig/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/tree-reconfig/universalModule/index.html b/branch/tree-reconfig/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/tree-reconfig/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/_images/code.jpg b/branch/voxelBidir/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/voxelBidir/_images/code.jpg differ diff --git a/branch/voxelBidir/_images/connector_photo.jpg b/branch/voxelBidir/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/voxelBidir/_images/connector_photo.jpg differ diff --git a/branch/voxelBidir/_images/um_photo.jpg b/branch/voxelBidir/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/voxelBidir/_images/um_photo.jpg differ diff --git a/branch/voxelBidir/_sources/index.rst.txt b/branch/voxelBidir/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/voxelBidir/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/voxelBidir/_sources/intro/compiling.rst.txt b/branch/voxelBidir/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/voxelBidir/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/voxelBidir/_sources/intro/index.rst.txt b/branch/voxelBidir/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/voxelBidir/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/voxelBidir/_sources/intro/structure.rst.txt b/branch/voxelBidir/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/voxelBidir/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/voxelBidir/_sources/intro/suites/desktop.rst.txt b/branch/voxelBidir/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/voxelBidir/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/voxelBidir/_sources/intro/suites/doc.rst.txt b/branch/voxelBidir/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/voxelBidir/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/voxelBidir/_sources/intro/testing.rst.txt b/branch/voxelBidir/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/voxelBidir/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/voxelBidir/_sources/releng/index.rst.txt b/branch/voxelBidir/_sources/releng/index.rst.txt new file mode 100644 index 000000000..59c9ad64d --- /dev/null +++ b/branch/voxelBidir/_sources/releng/index.rst.txt @@ -0,0 +1,36 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. diff --git a/branch/voxelBidir/_sources/roficom/index.rst.txt b/branch/voxelBidir/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..a23c55bbf --- /dev/null +++ b/branch/voxelBidir/_sources/roficom/index.rst.txt @@ -0,0 +1,2 @@ +RoFICoM +======= diff --git a/branch/voxelBidir/_sources/rofihal/index.rst.txt b/branch/voxelBidir/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/voxelBidir/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/atoms/containers.rst.txt b/branch/voxelBidir/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/atoms/index.rst.txt b/branch/voxelBidir/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/voxelBidir/_sources/rofilib/atoms/patterns.rst.txt b/branch/voxelBidir/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/atoms/resources.rst.txt b/branch/voxelBidir/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/atoms/result.rst.txt b/branch/voxelBidir/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/configurations/index.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/voxelBidir/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/voxelBidir/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/voxelBidir/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/voxelBidir/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/voxelBidir/_sources/rofilib/configurations/voxel.rst.txt b/branch/voxelBidir/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/voxelBidir/_sources/rofilib/index.rst.txt b/branch/voxelBidir/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/voxelBidir/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/voxelBidir/_sources/tutorials/index.rst.txt b/branch/voxelBidir/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/voxelBidir/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/voxelBidir/_sources/tutorials/simulator.md.txt b/branch/voxelBidir/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/voxelBidir/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/voxelBidir/_sources/universalModule/index.rst.txt b/branch/voxelBidir/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..ec0b0cb32 --- /dev/null +++ b/branch/voxelBidir/_sources/universalModule/index.rst.txt @@ -0,0 +1,2 @@ +Universal Module +================ diff --git a/branch/voxelBidir/_static/basic.css b/branch/voxelBidir/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/voxelBidir/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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000000000..e1bfd708b --- /dev/null +++ b/branch/voxelBidir/_static/doctools.js @@ -0,0 +1,358 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + * + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL + */ +jQuery.urldecode = function(x) { + if (!x) { + return x + } + return decodeURIComponent(x.replace(/\+/g, ' ')); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/voxelBidir/_static/documentation_options.js b/branch/voxelBidir/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/voxelBidir/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/voxelBidir/_static/file.png b/branch/voxelBidir/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/voxelBidir/_static/file.png differ diff --git a/branch/voxelBidir/_static/jquery-3.5.1.js b/branch/voxelBidir/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/voxelBidir/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/index.html b/branch/voxelBidir/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/voxelBidir/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/intro/compiling.html b/branch/voxelBidir/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/voxelBidir/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/intro/index.html b/branch/voxelBidir/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/voxelBidir/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/intro/structure.html b/branch/voxelBidir/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/voxelBidir/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/intro/suites/desktop.html b/branch/voxelBidir/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/voxelBidir/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/intro/suites/doc.html b/branch/voxelBidir/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/voxelBidir/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/intro/testing.html b/branch/voxelBidir/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/voxelBidir/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/objects.inv b/branch/voxelBidir/objects.inv new file mode 100644 index 000000000..7c051fb0a Binary files /dev/null and b/branch/voxelBidir/objects.inv differ diff --git a/branch/voxelBidir/releng/index.html b/branch/voxelBidir/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/voxelBidir/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/roficom/index.html b/branch/voxelBidir/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/voxelBidir/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofihal/index.html b/branch/voxelBidir/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/voxelBidir/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/atoms/containers.html b/branch/voxelBidir/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/voxelBidir/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/atoms/index.html b/branch/voxelBidir/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/voxelBidir/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/atoms/patterns.html b/branch/voxelBidir/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/voxelBidir/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/atoms/resources.html b/branch/voxelBidir/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/voxelBidir/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/atoms/result.html b/branch/voxelBidir/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/voxelBidir/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/index.html b/branch/voxelBidir/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/parsing_in_cpp.html b/branch/voxelBidir/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/rofiworld.html b/branch/voxelBidir/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..b0481f30c --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/serializations/json.html b/branch/voxelBidir/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/serializations/voxel.html b/branch/voxelBidir/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/tooling_usage.html b/branch/voxelBidir/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/configurations/voxel.html b/branch/voxelBidir/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/voxelBidir/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/rofilib/index.html b/branch/voxelBidir/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/voxelBidir/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/search.html b/branch/voxelBidir/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/voxelBidir/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+ +
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/branch/voxelBidir/searchindex.js b/branch/voxelBidir/searchindex.js new file mode 100644 index 000000000..af688cfbe --- /dev/null +++ b/branch/voxelBidir/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/voxelBidir/tutorials/index.html b/branch/voxelBidir/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/voxelBidir/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
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+ +
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+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/tutorials/simulator.html b/branch/voxelBidir/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/voxelBidir/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/voxelBidir/universalModule/index.html b/branch/voxelBidir/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/voxelBidir/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/_images/code.jpg b/branch/wait-delay/_images/code.jpg new file mode 100644 index 000000000..6bc6a79ed Binary files /dev/null and b/branch/wait-delay/_images/code.jpg differ diff --git a/branch/wait-delay/_images/connector_photo.jpg b/branch/wait-delay/_images/connector_photo.jpg new file mode 100644 index 000000000..bee608cb0 Binary files /dev/null and b/branch/wait-delay/_images/connector_photo.jpg differ diff --git a/branch/wait-delay/_images/um_photo.jpg b/branch/wait-delay/_images/um_photo.jpg new file mode 100644 index 000000000..2e49fbb34 Binary files /dev/null and b/branch/wait-delay/_images/um_photo.jpg differ diff --git a/branch/wait-delay/_sources/index.rst.txt b/branch/wait-delay/_sources/index.rst.txt new file mode 100644 index 000000000..a8d213ed7 --- /dev/null +++ b/branch/wait-delay/_sources/index.rst.txt @@ -0,0 +1,51 @@ +RoFI — Technical Documentation +============================== + +This document provides the technical documentation for the `RoFI Platform +`_. Start by selecting the topic: + +.. table:: + :widths: 33 33 33 + + =================== ======================= =================== + |Getting Started|_ |Release engineering|_ |RoFI HAL|_ + ------------------- ----------------------- ------------------- + `Getting Started`_ `Release engineering`_ `RoFI HAL`_ + ------------------- ----------------------- ------------------- + |RoFI Library|_ |RoFICoM|_ |Universal Module|_ + ------------------- ----------------------- ------------------- + `RoFI Library`_ `RoFICoM`_ `Universal Module`_ + =================== ======================= =================== + +.. |Getting Started| image:: _static/code.jpg +.. _Getting Started: intro/ + +.. |Release engineering| image:: _static/code.jpg +.. _Release engineering: releng/ + +.. |RoFI HAL| image:: _static/code.jpg +.. _RoFI HAL: rofihal/ + + +.. |RoFI Library| image:: _static/code.jpg +.. _RoFI Library: rofilib/ + +.. |RoFICoM| image:: _static/connector_photo.jpg +.. _RoFICoM: roficom/ + +.. |Universal Module| image:: _static/um_photo.jpg +.. _Universal Module: universalModule/ + +Note that you can preview the development version of the documentation on +``https://paradise-fi.github.io/RoFI/branch/``. + +.. toctree:: + :caption: Contents: + + intro/index + releng/index + tutorials/index + rofihal/index + rofilib/index + roficom/index + universalModule/index diff --git a/branch/wait-delay/_sources/intro/compiling.rst.txt b/branch/wait-delay/_sources/intro/compiling.rst.txt new file mode 100644 index 000000000..0ae44f038 --- /dev/null +++ b/branch/wait-delay/_sources/intro/compiling.rst.txt @@ -0,0 +1,302 @@ +RoFI Compilation +================ + +We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment. + +To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details. + +If you are interested only in the "step-by-step tutorial" on building, feel free +to skip to the section :ref:`quick-start-example`. + +.. _environment: + +Build environment +----------------- + +To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups ``PATH`` to management tools, +compiled binaries and also provides other environmental variables required by +the build. + +When you set up the environment, you specify which type of environment you want: +either ``Release`` (the default) or ``Debug``. + +So whenever you want to work with the project, invoke in your shell: + +.. code-block:: sh + + $ source setup.sh Release + +This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke ``source setup.sh Debug`` to e.g., switch to a +debug configuration. Or invoke ``teardown`` to return your shell to original +state. + +If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with ``-i``. This will setup ESP-IDF, which is +necessary to compile suite ``esp32``. + +Once you setup the environment, you have management commands available in your +shell (e.g., ``rcfg`` and ``rmake``). Then you can proceed to configuration of +compilation suites and building targets. + +Note that if you would like to make ``setup.sh`` silent (e.g., when benchmarking +or running in CI), you can pass the option ``-s`` to make it silent. + +Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ``ROFI_SHELL_INDICATOR`` to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration. + +The build directories are constructed as +``build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}``. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +``ROFI_BUILD_PREFIX`` before invoking ``setup.sh`` to distinguish them. + + +Compilation suites +------------------ + +The project compilation is organized into so-called *suites*. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can *configure for compilation*. + +Currently, there are the following suites: + +- **desktop**: Programs and libraries running on a desktop computer. That + includes simulators, benchmarking tools etc. + +- **hardware**: Hardware components for RoFI. Building this + target creates e.g., `.stl` files for printing, ZIP packages containing + gerber files for PCB production, bill-of-materials, etc. + +- **stm32**: Firmware for the microcontrollers on hardware modules based on + STM32 microcontrollers. This does not include the RoFI programs. Think of + this as the part of the hardware, that just have to be build separately. + +- **esp32**: The actual programs that are deployed to the RoFI modules. + +- **doc**: This documentation. + +The suites are represented by directories in ``${PROJECT_ROOT}/suites``. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the ``readme.md`` file in the suite directory. + +You can setup the compilation units via invoking: + +.. code-block:: sh + + $ rcfg desktop firmware # Setup desktop and firmware suites + $ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option + $ rcfg -desktop # Unconfigure the desktop suite + +Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via ``--`` -- everything after ``--`` is passed to the +CMake. + +We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications). + +You can learn about the suite-specific configurations in the following sections: + +.. toctree:: + suites/desktop + suites/doc + + +Compilation targets +------------------- + +Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via: + +.. code-block:: sh + + $ rmake --list + +With output similar to the following: + +.. code-block:: none + + Available suites: firmware, desktop, rofiFirmware, hardware, doc + + Available targets for suite firmware: + None + + Available targets for suite desktop: + atoms-test: softwareComponents/atoms + configuration: softwareComponents/configuration + generators: softwareComponents/configuration + configuration-test: softwareComponents/configuration + rofi-reconfig: softwareComponents/reconfig + reconfig: softwareComponents/reconfig + reconfig-test: softwareComponents/reconfig + smt-reconfig-lib: softwareComponents/smtreconfig + smt-reconfig: softwareComponents/smtreconfig + smt-reconfig-test: softwareComponents/smtreconfig + rofi-vis: tools/visualizer + rofi-vis-test: tools/visualizer + rofi-app: tools/visualizer + rofi-generate: tools/generate + rofi-emptyDockFill: tools/emptyDockFill + rofi-topology2dot: tools/topology2dot + + Available targets for suite rofiFirmware: + None + + Available targets for suite hardware: + None + + Available targets for suite doc: + doc: doc + +The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to ``rmake``: + +.. code-block:: sh + + $ rmake desktop # Compile all targets from the suite desktop + $ rmake rofi-vis # Compile only target rofi-vis (and its dependencies) + $ rmake tools/ # Compile all targets that are in the source tree under prefix + $ rmake tools/ doc # You can mix various types of targets + $ rmake --all # Compile everything + +Note that once you compile a target, you can directly run the binaries as they +are in ``PATH``. If you would like to inspect the build artifacts, they are +located in the directory ``build.{Configuration}/{suiteName}``. + +``rmake`` also recognizes phony targets ``clean`` and ``clean-`` that +clean all suites or given suite respectively. + +In case you would like to run clang-tidy on the sources, you can use ``rmake +--tidy ``. The clang-tidy will be invoked on all sources matching the +pattern. + +The ``rmake`` tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed. + +.. _flashing: + +Flashing robots and hardware modules +------------------------------------ + +The RoFI environment offers two tools: ``rflash`` and ``rmonitor`` that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image. + +Both tools have the same usage: + +.. code-block:: sh + + $ rflash -- + $ rmonitor -- + +Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters. + +.. _advanced_config: + +Advanced configuration of the build process +------------------------------------------- + +In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of ``source setup.sh``: +``~/.rofi.pre.env`` and ``~/.rofi.post.env``. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version: + +.. code-block:: sh + + # .rofi.post.env + + export CC=$(command -v gcc-11) + export CXX=$(command -v g++-11) + + +The extra tools that ``setup.sh`` downloads, are placed in a directory marked by +the environmental variable ``ROFI_TOOLS_PATH``. If the variable is not set, it +defaults to ``ROFI_ROOT/build.deps``. You might want to set this variable in the +case when you work on multiple worktrees to save disk space -- ESP-IDF consumes +about 2.5 GB of disk space. + +.. _quick-start-example: + +Quick start example +------------------- + +To quickly start with RoFI development, we provide a short step-by-step guide: + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode + $ rcfg desktop doc # Configure the suites you want + $ rmake --all # Build everything you have configured + $ rmake tools/ # ... or build only all tools + $ rofi-vis # Run the compiled tool + + +Quick start Simulator example +------------------------------ + +To quickly start with simulating RoFI, we provide a short step-by-step guide. + +Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes. + +GazeboSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + # This also sets the necessary gazebo paths and variables + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info + +SimpleSim +~~~~~~~~~ + +.. code-block:: sh + + $ source setup.sh Debug # Setup your terminal in Debug mode + $ rcfg desktop && rmake desktop # Configure the desktop suite and build it + $ rofi-simplesim --help # Display help + $ rofi-simplesim data/configurations/json/single.json # Run simplesim + + +Module code +~~~~~~~~~~~ + +.. attention:: + When compiling the module code that you want to run in a simulator, make sure + to link it with the correct RoFI HAL library ``rofi_hal_sim``. + +In a different terminal then where you run the simulator, +run the module code for each module that you want to control: + +.. code-block:: sh + + $ source setup.sh # Setup your terminal + $ basicJointPosition # Run the compiled module code + +If you are interested in controlling the simulation via Python instead of C++, +you can follow example ``examples/simulator/pythonInterface``: + +.. code-block:: sh + + $ python3 examples/simulator/pythonInterface/oscilate.py diff --git a/branch/wait-delay/_sources/intro/index.rst.txt b/branch/wait-delay/_sources/intro/index.rst.txt new file mode 100644 index 000000000..16e9aa889 --- /dev/null +++ b/branch/wait-delay/_sources/intro/index.rst.txt @@ -0,0 +1,20 @@ +Introduction, compiling and structure +===================================== + +Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project. + +First, start by cloning the project repository: + +.. code-block:: sh + + $ git clone https://github.com/paradise-fi/RoFI.git + $ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up + +Then proceed to the following sections: + +.. toctree:: + compiling + structure + testing diff --git a/branch/wait-delay/_sources/intro/structure.rst.txt b/branch/wait-delay/_sources/intro/structure.rst.txt new file mode 100644 index 000000000..5497f536c --- /dev/null +++ b/branch/wait-delay/_sources/intro/structure.rst.txt @@ -0,0 +1,37 @@ +Project Structure +================= + +The project is organized as a mono-repository, that is all the sources for the +whole project are in a single `Git repository +`__. + +There are the following directories: + +- ``hardwareModules``: All the hardware modules. CAD models, PCBs and related + firmware. + + - ``RoFICoM``: All sources for the mechanical connnector + + - ``universalModule``: All sources for the universal module (does not + contain concrete RoFI applications) +- ``softwareComponents``: All libraries provided by the project. We do not + distinguish whether the libraries target embedded or desktop. Each directory + is single library and has its readme file containing further details. Some of + the notable libraries are: + + - ``atoms``: A library of general-purpose data structures and algorithms. + This library has a :doc:`dedicated section <../rofilib/atoms/index>` of + the documentation. + - ``configuration``: A library for representation of a RoFIBot. See + :doc:`documentation <../rofilib/configuration>`. + - ``rofiHalSim`` and ``rofiHalEsp32``: The hardware abstraction layer for + RoFI modules. +- ``tools``: The tools for working with RoFI +- ``tutorials``: Tutorials intended to get you familiar with the project. +- ``examples``: A self-contained, easily executable examples demonstrating the + the project. Often referred from this documentation. +- ``applications``: RoFI applications (case-studies, programs for the modules) +- ``data``: All resources (simulator models, library of configurations) +- ``media``: Pictures & videos of the project used in readmes. +- ``releng``: Packaging & compilation +- ``doc``: This documentation diff --git a/branch/wait-delay/_sources/intro/suites/desktop.rst.txt b/branch/wait-delay/_sources/intro/suites/desktop.rst.txt new file mode 100644 index 000000000..f87abc2e3 --- /dev/null +++ b/branch/wait-delay/_sources/intro/suites/desktop.rst.txt @@ -0,0 +1,39 @@ +Desktop Suite +============= + +The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks. + +Dependencies +------------ + +Refer to ``suites/desktop/Dockerfile`` for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed: + +- `Armadillo `__: for APT-based system, install + ``libarmadillo-dev`` +- `VTK >=7 `__: for APT-based system, install ``libvtk7-dev`` +- `QT 5 and QT-VTK `__: for APT-based system, install + ``libvtk7-qt-dev qtdeclarative5-dev`` +- `GazeboSim >=11 `__: for APT-based system, install + ``libgazebo11-dev``. This dependecy can be removed using the build options. +- `Z3 `__: this dependency is only needed for + compiling SMT reconfiguration. +- `Clp `__: for APT-based system, install + ``coinor-clp coinor-libclp-dev`` + +On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer. + +Build options +------------- + +- ``BUILD_HEADLESS`` (default ``FALSE``): Build only parts of the project that + can run headlessly. I.e., does not compile visualizer nor rofi-app. +- ``BUILD_GAZEBO`` (default ``TRUE``): Build parts that require gazebo libraries. +- ``BUILD_RUST`` (default ``TRUE``): Build parts that contain or depend on Rust. +- ``BUILD_SMTRECONFIG`` (default ``FALSE``): Defines whether to build the + library for reconfiguration via reduction to SMT. The library is not directly + applicable and also brings heavy dependency in the form of Z3, thus it makes + sense to do not compile it by-default. diff --git a/branch/wait-delay/_sources/intro/suites/doc.rst.txt b/branch/wait-delay/_sources/intro/suites/doc.rst.txt new file mode 100644 index 000000000..84ec96798 --- /dev/null +++ b/branch/wait-delay/_sources/intro/suites/doc.rst.txt @@ -0,0 +1,30 @@ +Documentation Suite +=================== + +This suite builds this documentation. The documentation is build using Sphinx +and Breathe. + +Dependencies +------------ + +To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required. + +On APT based system, these dependencies can be installed via: + +.. code-block:: sh + + $ apt-get install doxygen graphviz + $ pip3 install sphinx breathe myst_parser sphinx-rtd-theme + + +If you intend to use `rmake --doc` command, you need to install additional package + +.. code-block:: sh + + $ apt-get install inotify-tools + +Build options +------------- + +There are no build options. diff --git a/branch/wait-delay/_sources/intro/testing.rst.txt b/branch/wait-delay/_sources/intro/testing.rst.txt new file mode 100644 index 000000000..79a656a5a --- /dev/null +++ b/branch/wait-delay/_sources/intro/testing.rst.txt @@ -0,0 +1,80 @@ +Writing and running tests +========================= + +The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it. + +All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email. + +Running the test +---------------- + +You can easily run the test via ``rmake --test ``. You can specify the +following arguments: + +.. code-block:: + + rmake --test --all Compile and run all configured tests + rmake --test ... Compile and run test for target + rmake --test ... Compile and run tests from given path prefix + rmake --test ... Compile and run tests from given suite + + +The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available. + +You can specify the test based on the same criterion as `compilation targets +`__. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly. + +Writing tests +------------- + +For the purposes of RoFI, a test is an executable in ``PATH`` that satisfies the +following: + +- its name starts with the prefix `test-`, +- it has an associated CMake target in one of the projects, +- it can run with no command line arguments, +- if and only if the tests fails, the return code is non-zero, and +- it gives user-readable output on the stdout/stderr indicating what went wrong + in the case of failure. + +Usually, a test will a be `Catch2 `__ binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line. + +Writing test for C++ +-------------------- + +As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use `Catch2 `__ as +the primary testing framework. You should use it if don't have a particular +reason to not use it. + +Most of the compilation suites already provide it, so simply include it in your +CMake like this: + +.. code-block::cmake + + file(GLOB TEST_SRC test/*.cpp) + add_executable(test-coolSoftwareModule ${TEST_SRC}) + target_link_libraries(test-coolSoftwareModule PRIVATE Catch2::Catch2) + +And that's everything you need. Now you can just write test source files in the +`test` directory. See `Catch2 tutorial +`__ for more +details. + +If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don't have to compile all sources +twice. diff --git a/branch/wait-delay/_sources/releng/index.rst.txt b/branch/wait-delay/_sources/releng/index.rst.txt new file mode 100644 index 000000000..a62e23529 --- /dev/null +++ b/branch/wait-delay/_sources/releng/index.rst.txt @@ -0,0 +1,37 @@ +Release engineering notes +========================= + +This document describes several important notes about release engineering of +RoFI. + +Continuous integration +---------------------- + +The projects uses GitHub actions as CI backend. The build process is described +by the file ``.github/workflows/build.yml``. The build tries to build every +suite and if present, run suite tests. + +To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ``ghcr.io`` and every +member of the organization `paradise-fi `_ can +access it. Note that you need to invoke ``docker login`` to get access to +``ghcr.io``. You can read more in `GitHub +documentation `_. + +The images are defined by the files ``Dockerfile`` and ``Dockerfile.doc``. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking ``releng/tools/updateDockerImages``. + +Documentation +------------- + +This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx. + +In order to build per-branch documentation (available under +``https://paradise-fi.github.io/RoFI/branch/``) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date. + diff --git a/branch/wait-delay/_sources/roficom/index.rst.txt b/branch/wait-delay/_sources/roficom/index.rst.txt new file mode 100644 index 000000000..1f2880449 --- /dev/null +++ b/branch/wait-delay/_sources/roficom/index.rst.txt @@ -0,0 +1,3 @@ +RoFICoM +======= + diff --git a/branch/wait-delay/_sources/rofihal/index.rst.txt b/branch/wait-delay/_sources/rofihal/index.rst.txt new file mode 100644 index 000000000..58eefdf0d --- /dev/null +++ b/branch/wait-delay/_sources/rofihal/index.rst.txt @@ -0,0 +1,45 @@ +RoFI HAL +======== + +RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones. + + +Types and Constants +------------------- + +.. doxygenenum:: rofi::hal::ConnectorPosition + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorOrientation + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorLine + :project: hal + +.. doxygenenum:: rofi::hal::ConnectorEvent + :project: hal + + +.. doxygenstruct:: rofi::hal::ConnectorState + :project: hal + + +Classes +------- + +.. doxygenclass:: rofi::hal::RoFI + :project: hal + +.. doxygenclass:: rofi::hal::Joint + :project: hal + +.. doxygenclass:: rofi::hal::Connector + :project: hal + + +Networking +---------- + +.. doxygenclass:: rofi::hal::PBuf + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/atoms/containers.rst.txt b/branch/wait-delay/_sources/rofilib/atoms/containers.rst.txt new file mode 100644 index 000000000..2b97a1a06 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/atoms/containers.rst.txt @@ -0,0 +1,14 @@ +Containers +========== + +Atoms provide the following containers: + +- :cpp:class:`atoms::HandledSet` - container for storing a elements with + automatically assigned identifier. + + +Classes reference +----------------- + +.. doxygenclass:: atoms::HandleSet + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/atoms/index.rst.txt b/branch/wait-delay/_sources/rofilib/atoms/index.rst.txt new file mode 100644 index 000000000..5bbe03c25 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/atoms/index.rst.txt @@ -0,0 +1,14 @@ +Atoms +===== + +Atoms contain all the "general purpose utilities". They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project. + +Atoms currently provide: + +.. toctree:: + patterns + containers + result + resources diff --git a/branch/wait-delay/_sources/rofilib/atoms/patterns.rst.txt b/branch/wait-delay/_sources/rofilib/atoms/patterns.rst.txt new file mode 100644 index 000000000..8257c127c --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/atoms/patterns.rst.txt @@ -0,0 +1,191 @@ +Patterns +======== + +Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns. + +Visitor Pattern +--------------- + +Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See `Wikipedia +`_ for more details. + +To remove boilerplate, you can use Atoms. + +Consider a simple class hiearchy of animals: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Cat: public Animal {}; + class Dog: public Animal {}; + +To make them visitable via atoms, you need to modify your definition a little +bit: + +.. code-block:: cpp + + class Cat; // Forward declaration, so we can define Visitor + class Dog; // Forward declaration, so we can define Visitor + + // Our visitor base class has to be defined before the base class, so we can + // specify the visitor type in the definition + using AnimalVisitor = atoms::Visits< Cat, Dog >; + + class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > { + public: + virtual ~Animal() = default; + }; + + class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable + class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable + +Now you can hand-craft a traditional visitor and use it: + +.. code-block:: cpp + + class TypeVisitor: public AnimalVisitor { + public: + void operator()( Cat& a ) override { + result = "cat"; + } + + void operator()( Dog& b ) override { + result = "dog"; + } + + std::string result; + }; + + // ...and when you want to use it: + Cat cat; + Dog dog; + Animal *hiddenCat = &cat; + Animal *hiddenDog = &dog; + + TypeVisitor visitor; + cat.accept( visitor ); + std::cout << visitor.result << "\n"; + + dog.accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + + hiddenDog->accept( visitor ); + std::cout << visitor.result << "\n"; + +With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas: + +.. code-block:: cpp + + std::string catType( Cat& ) { return "cat"; } + auto visitor = AnimalVisitor::make( + catType, // Cat is visited by an ordinary function + []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda + // Note that you have to cover all cases, otherwise your program won't compile + + // Then we can use it like before + hiddenCat->accept( visitor ); + std::cout << visitor.result << "\n"; + +This is not all, with Atoms, you can avoid the annoying "accept then result" +construction and visit object like function call: + +.. code-block:: cpp + + std::cout << atoms::visit( hiddenCat, visitor) << "\n"; + // You can even define the visitor in place: + std::cout << atoms::visit( hiddenCat, + []( Cat& cat ) { return "cat"; }, + []( Dog& dog ) { return "dog"; } ) << "\n"; + +Bellow, you can find the references of the provided classes and functions: + +.. doxygenstruct:: atoms::Visits + :project: lib + +.. doxygenstruct:: atoms::VisitableBase + :project: lib + +.. doxygenstruct:: atoms::Visitable + :project: lib + +.. doxygenstruct:: atoms::Visitor + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Fs... fs) + :project: lib + +.. doxygenfunction:: atoms::visit(T &object, Visitor visitor) -> std::enable_if_t, typename Visitor::ReturnType> + :project: lib + + +Cloneable Object Hiearchy & ValuePtr +------------------------------------ + +Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code: + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + }; + + class Dog: public Animal {}; + class Cat: public Animal {}; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy - how to do so? We don't know what is behind Animal. + // The following attempt won't work: + std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile + +To make the it work we can add a virtual ``clone`` method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain. + +.. code-block:: cpp + + class Animal { + public: + virtual ~Animal() = default; + ATOMS_CLONEABLE_BASE( Animal ); + }; + + class Dog: public Animal { + public: + ATOMS_CLONEABLE( Dog ); + }; + + class Cat: public Animal { + public: + ATOMS_CLONEABLE( Cat ); + }; + + // Our code: + std::unique_ptr< Animal > ptr( new Dog() ); + // Let's make a copy: + std::unique_ptr< Animal > ptrCopy( ptr->clone() ); + +Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With ``unique_ptr`` you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +:cpp:class:`atoms::ValuePtr` which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed ``std::polymorphic_value``, +however, it does not feature small-buffer optimization to provide stable +references. + +.. doxygenclass:: atoms::ValuePtr + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/atoms/resources.rst.txt b/branch/wait-delay/_sources/rofilib/atoms/resources.rst.txt new file mode 100644 index 000000000..548129e8f --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/atoms/resources.rst.txt @@ -0,0 +1,56 @@ +Embedded Resources Management +============================= + +There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent. + +:cpp:class:`ResourceManager` and :cpp:class:`ResourceFile` help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource. + +Usage +----- + +To use an embedded resource you have to: + +- embed the resource into the binary as a blob, +- load it in the program, +- get filename. + +Embedding of the resources is handled by a CMake macro: + +.. code-block:: cmake + + # resources can be an arbitrary, but unique name + # multiple resource files are allowed + add_resources(resources "resouceFile1.bmp" resourceFile2.obj") + # Then you specify resources as one of the sources for you executable/library + add_executable(myProject ${resources} main.cpp) + +Then you can use the resource in your code: + +.. code-block:: cpp + + // Slashes and dots in file names are replaced by an underscore + // Note that the resource name is not string (it is a symbol actually) + ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp ); + // Call the api with file name: + loadTexture( myResource.name() ); + + +Classes reference +----------------- + +.. doxygenclass:: ResourceManager + :project: lib + +.. doxygenclass:: ResourceFile + :project: lib + +Macro reference +--------------- + +.. doxygendefine:: LOAD_RESOURCE_FILE + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/atoms/result.rst.txt b/branch/wait-delay/_sources/rofilib/atoms/result.rst.txt new file mode 100644 index 000000000..7a5ca7fba --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/atoms/result.rst.txt @@ -0,0 +1,138 @@ +Result +====== + +Result provides a way to return a value or an error. +The concept is similar to `Either +`_ +in Haskell or `Result `_ in Rust. + +Usage +----- + +Use `value`, `error`, `emplace_value` and `emplace_error` to create new `Result`. + +.. code-block:: cpp + + auto value42 = atoms::Result< int >::value( 22 ); + auto value0 = atoms::Result< int, std::runtime_error >::emplace_value(); + auto errStr = atoms::Result< double >::error( "string is default error type" ); + auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" ); + +When returning `Result` from a function, you can use helper creation functions. + +.. code-block:: cpp + + atoms::Result< int > div( int lhs, int rhs ) { + if ( rhs == 0 ) { + return atoms::result_error< std::string >( "division by 0" ); + } + return atoms::result_value( lhs / rhs ); + } + +Use `make_` helper creation function variants to pass arguments directly to constuctors. + +.. code-block:: cpp + + atoms::Result< std::vector< double > > repeat( int count, double value ) { + if ( count < 0 ) { + return atoms::make_result_error< std::string >( "count is negative" ); + } + return atoms::make_result_value( count, value ); + } + + +You can check if a `Result` contains a value and dereference the `Result` to get it. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + if ( result ) { // or `result.has_value()` + std::cout << "Have result " << *result << "\n"; // or `result.assume_value()` + } else { + std::cout << "Have error " << result.assume_error() << "\n"; + } + + +You can use monadic methods based on `std::optional`. +Note that when using monadic methods, the other type has to be copy/move constructible. + +.. code-block:: cpp + + auto result = atoms::Result< int >::value( 10 ); + + auto newResult = result.and_then( []( int value ){ + return atoms::result_error( std::to_string( value ) ); + } ) + .or_else( []( const std::string & str ) { + return atoms::value( static_cast< int >( str.size() ) ); + } ) + .or_else( []() { + return atoms::value( 12 ); + } ) + .transform( []( int value ){ + return static_cast< unsigned >( value + 2 ); + } ); + + // If you `std::move` the result, the content will be moved as well + unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){ + return "Error: " + std::move( str ); + } ) + .value_or( []( std::string error ){ + throw std::runtime_error( std::move( error ) ); + } ); + +For matching on a result, you can use `Result::match` methods. + +.. code-block:: cpp + + #include // for `overloaded` + + // ... + + auto correctAnswer = atoms::Result< int >::value( 10 ); + + correctAnswer.match( overloaded{ + []( int value ) { std::cout << "Got answer " << value << "\n"; } + []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + // With compatible value and error types + auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" ); + + /** + * Doesn't compile (compiler cannot deduce value/error from type) + * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety. + */ + // correctAnswer.match( overloaded{ + // []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + // []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + // } ); + + correctAnswer.match( overloaded{ + []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; } + []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; } + } ); + + +Classes reference +----------------- + +.. doxygenclass:: atoms::Result + :project: lib + +.. doxygenstruct:: atoms::detail::TypePlaceholder + :project: lib + +Functions reference +------------------- + +.. doxygenfunction:: atoms::result_value + :project: lib +.. doxygenfunction:: atoms::make_result_value + :project: lib + +.. doxygenfunction:: atoms::result_error + :project: lib +.. doxygenfunction:: atoms::make_result_error + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/configurations/index.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/index.rst.txt new file mode 100644 index 000000000..27379f8a2 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/index.rst.txt @@ -0,0 +1,33 @@ +Configurations +============== + +Configuration is a way of representing a collection of RoFI Modules. + +The go-to configuration is :doc:`rofiworld`, which can represent +any collection of RoFI Modules in a universal manner. + +.. contents:: + +Configuration Usage +------------------- + +.. toctree:: + tooling_usage + parsing_in_cpp + +Different Configurations +------------------------ + +.. toctree:: + rofiworld + voxel + +Serializations +-------------- + +Serializations provide a way to to save configurations +or to transfer them between programming languages. + +.. toctree:: + serializations/json + serializations/voxel diff --git a/branch/wait-delay/_sources/rofilib/configurations/parsing_in_cpp.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/parsing_in_cpp.rst.txt new file mode 100644 index 000000000..5a3e69b35 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/parsing_in_cpp.rst.txt @@ -0,0 +1,85 @@ +Parsing Configurations in C++ +============================= + +When parsing configurations in C++ tools, the configurations get usually +converted into :cpp:class:`rofi::configuration::RofiWorld`. +For this, tools can use the parsing function +:cpp:func:`rofi::parsing::parseRofiWorld` +or :cpp:func:`rofi::parsing::parseRofiWorldSeq`. + +For the other conversion, tools can use +:cpp:func:`rofi::parsing::writeRofiWorld` +or :cpp:func:`rofi::parsing::writeRofiWorldSeq`. + +.. note:: + When parsing you may want to check whether the configuration is empty + or whether the configuration is fixed in space. + + If you want to allow for not fixed configurations and be able to prepare + them (without regards to the real position), you can use + :cpp:func:`rofi::parsing::fixateRofiWorld`. + + Also don't forget to validate the configuration if needed. + +Helper Functions +---------------- + +.. doxygenfunction:: rofi::parsing::parseJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getFromJson + :project: lib + +Helper RofiWorld Functions +-------------------------- + +.. doxygenfunction:: rofi::parsing::fixateRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::toSharedAndValidate + :project: lib + +.. doxygenfunction:: rofi::parsing::validateRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::validatedRofiWorldSeq + :project: lib + +Conversion Functions +-------------------- + +.. doxygenfunction:: rofi::parsing::getRofiWorldFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::getRofiWorldSeqFromJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertRofiWorldSeqToJson + :project: lib + +.. doxygenfunction:: rofi::parsing::convertFromRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::convertToRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::parseOldCfgFormat + :project: lib + +Multi-Format Conversions +------------------------ + +.. doxygenenum:: rofi::parsing::RofiWorldFormat + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorld + :project: lib + +.. doxygenfunction:: rofi::parsing::parseRofiWorldSeq + :project: lib + +.. doxygenfunction:: rofi::parsing::writeRofiWorldSeq + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/configurations/rofiworld.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/rofiworld.rst.txt new file mode 100644 index 000000000..07c0ac3b4 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/rofiworld.rst.txt @@ -0,0 +1,142 @@ +RoFI Configuration +================== + +Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints. + +Using these blocks, you can specify every RoFI world -- a set of rofibots +(connected set of RoFI modules fixed in space) -- and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks). + +.. contents:: + +Usage +----- + +The main class is :cpp:class:`RofiWorld ` +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates. + +Example +------- + +Let us create a world with a single bot consisted of two universal modules. + +.. code-block:: cpp + + #include + + // ... + + RofiWorld world; + // add universal module with id 42 in the default state + auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) ); + // add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees + auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) ); + + // connect A+X of the universal module with id = 42 to A-X of UM with id = 66 + connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North ); + // fix the position of the `shoe A` in { 0, 0, 0 } + connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity ); + +With the `world` in hand, you can then prepare it (i.e. compute positions of each +part -- rofibot -- of the world) and check for its validity. + +.. code-block:: cpp + + if ( auto prepared = world.prepare(); !prepared ) + std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n"; + if ( auto valid = world.isValid( SimpleCollision() ); !valid ) + std::cerr << "Invalid configuration: " << valid.assume_error() << "\n"; + + // or you can shorten the above to + auto ok = world.validate( SimpleCollision() ); + + // also, the SimpleCollision model is the default one, so you can ommit it too and get + auto ok = world.validate(); + + +Types and Constants +------------------- + +.. doxygentypedef:: rofi::configuration::ModuleId + :project: configuration + +.. doxygenenum:: rofi::configuration::ComponentType + :project: configuration + +.. doxygenenum:: rofi::configuration::ModuleType + :project: configuration + +.. doxygenenum:: rofi::configuration::roficom::Orientation + :project: configuration + +Classes +------- + +.. doxygenclass:: rofi::configuration::RofiWorld + :project: configuration + +.. doxygenclass:: rofi::configuration::Module + :project: configuration + +.. doxygenstruct:: rofi::configuration::Component + :project: configuration + +.. doxygenstruct:: rofi::configuration::Joint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RigidJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RotationJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::RoficomJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::ComponentJoint + :project: configuration + +.. doxygenstruct:: rofi::configuration::SpaceJoint + :project: configuration + + +.. doxygenclass:: rofi::configuration::NoCollision + :project: configuration + +.. doxygenclass:: rofi::configuration::SimpleCollision + :project: configuration + +Module Classes +-------------- + +.. doxygenclass:: rofi::configuration::UniversalModule + :project: configuration + +.. doxygenclass:: rofi::configuration::Pad + :project: configuration + +.. doxygenclass:: rofi::configuration::UnknownModule + :project: configuration + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o) + :project: configuration + +.. doxygenfunction:: rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args) + :project: configuration + +.. doxygenfunction:: rofi::configuration::makeComponentJoint + :project: configuration diff --git a/branch/wait-delay/_sources/rofilib/configurations/serializations/json.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/serializations/json.rst.txt new file mode 100644 index 000000000..da4c34704 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/serializations/json.rst.txt @@ -0,0 +1,212 @@ +Json Serialization +================== + +Configuration also supports serialization to and from `json `_ +format via functions :cpp:func:`toJSON ` +and :cpp:func:`fromJSON ` respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use `nlohman::json `_ library. + +.. contents:: + +Format Description +------------------ + +The configuration description consists of three main parts: `modules`, +`moduleJoints`, and `spaceJoints`. + +The minimal configuration looks like this. + +.. code-block:: cpp + + #include + + // the json library supports string literals + auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json; + RofiWorld world = fromJSON( js ); + // and we can continue as before + +If we were to represent the configuration with two universal modules shown +above, we could do it with this json + +.. code-block:: json + + { + "modules" : [ + { + "id" : 42, + "type" : "universal", + "alpha" : 0, + "beta" : 0, + "gamma" : 0 + }, + { + "id" : 66, + "type" : "universal", + "alpha" : 0, + "beta" : 45, + "gamma" : 90 + } + ], + + "moduleJoints" : [ + { + "orientation" : "East", + "from" : { "id" : 66, "connector" : "A+X" }, + "to" : { "id" : 42, "connector" : "A-X" } + } + ], + + "spaceJoints" : [ + { + "point" : [ 0, 0, 0 ], + "to" : { + "id" : 42, + "component" : 6 + }, + "joint" : { + "type" : "rigid", + "sourceToDestination" : [ [1, 0, 0, 0] + , [0, 1, 0, 0] + , [0, 0, 1, 0] + , [0, 0, 0, 1] ] + } + } + ] + } + +You are not limited to universal modules only, currently we support a module +`Pad` representing a 5x4 pad of RoFICoMs which can be represented as + +.. code-block:: json + + { + "id" : 66, + "type" : "pad", + "width" : 5, + "height" : 4 + } + +and there is also a representation of an arbitrary module corresponding to +the `UnknownModule`. Its attributes mirror the class + +.. code-block:: json + + { + "id" : 66, + "components" : [ < array of components > ], + "joints" : [ < array of joints > ] + } + +where the `component` has three possible values + +.. code-block:: json + + [ + { + "type" : "roficom" + }, + { + "type" : "UM shoe" + }, + { + "type" : "UM body" + } + ] + +and `joint` is represented as + +.. code-block:: json + + { + "from" : < component >, + "destination" : < component >, + "sourceToDestination" : < matrix >, + "joint" : < joint > + } + +where possible values of the `joint` are either `RigidJoint` represented as + +.. code-block:: json + + { + "type" : "rigid" + } + +or the `RotationJoint` which requires appropriate matrices + +.. code-block:: json + + { + "type" : "rotational", + "axis" : < 4-dimensional array >, + "preMatrix" : < matrix >, + "postMatrix" : < matrix >, + "min" : < lower-limit - number >, + "max" : < upper-limit - number > + } + +Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write `"identity"` +instead of `[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]`. + +Functions +--------- + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::toJSON( const RofiWorld& world, Callback attrCb ) + :project: configuration + +The callback is optional. It provides you with the ability to extend the json representation with +an `"attributes"` property, which can be added to any object within the `json`. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below. + + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j ) + :project: configuration + +.. doxygenfunction:: rofi::configuration::serialization::fromJSON( const nlohmann::json& j, Callback attrCb ) + :project: configuration + +Here you can provide a callback function, that is used for parsing the optional `"attributes"` field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for `toJSON`. + +Attributes callback +------------------- + +You can extend the `json` description of a configuration with `"attributes"` field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for `toJSON` that stores a `ModuleId` to `"attributes"` looks like + +.. code-block:: cpp + + overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); }, + []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; }, + []( const Component&, int componentIndex ) { return nlohmann::json{}; }, + []( const RoficomJoint& ) { return nlohmann::json{}; }, + []( const SpaceJoint& ) { return nlohmann::json{}; } + }; + +You can see that every function returns a `nlohman::json `__ which is then +stored to appropriate `"attributes"` field. + +To collect these attributes you can then use this callback + +.. code-block:: cpp + + std::vector< ModuleId > ids; + + overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) { + ids.push_back( j ); + }, + []( const nlohmann::json&, const ComponentJoint&, int jointIndex ) { return; }, + []( const nlohmann::json&, const Component&, int componentIndex ) { return; }, + []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; }, + []( const nlohmann::json&, RofiWorld::SpaceJointHandle ) { return; }, + }; + +See, that the main difference is in the arguments – callback given to `fromJSON` takes a `json` that +is the content of the respective `"attributes"` field. diff --git a/branch/wait-delay/_sources/rofilib/configurations/serializations/voxel.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/serializations/voxel.rst.txt new file mode 100644 index 000000000..2ec89eeff --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/serializations/voxel.rst.txt @@ -0,0 +1,35 @@ +Voxel Serialization +=================== + +Voxel configuration has its own serialization format based on +`json `_. +:cpp:class:`rofi::voxel::VoxelWorld` is implicitly convertible +to and from `nlohman::json `_. + +Json Grammar +------------ + +.. code-block:: json + + { + "bodies" : [ + < array of voxels > + ] + } + +where *voxel* is + +.. code-block:: json + + { + "body_dir": { + "axis": < "X" | "Y" | "Z" >, + "is_positive": < true | false > + }, + "joint_pos": < 0 | 90 | -90 >, + "pos": [ < array of 3 integers > ], + "shoe_rotated": < true | false > + } + +Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world. diff --git a/branch/wait-delay/_sources/rofilib/configurations/tooling_usage.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/tooling_usage.rst.txt new file mode 100644 index 000000000..3a1b06293 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/tooling_usage.rst.txt @@ -0,0 +1,28 @@ +Flags for Configurations in Tools +================================= + +- `-f VALUE` or `--format VALUE` + Specifies the format of the configuration file. + + .. seealso:: + See :cpp:enum:`rofi::parsing::RofiWorldFormat` + for all possible configuration formats + (not all formats have to be supported). + +- `--seq` or `--sequence` + If specified, the configuration file will be treated as it contains + a sequence of configurations. + + For Json formats this means a Json array of configurations. + +- `-b` or `--by-one` + .. note:: This flag is only applicable for voxel format. + + Specifies whether to fixate each module to the world separately + instead of connecting the modules together. + + This can be useful when e.g. visualizing + :cpp:class:`rofi::voxel::VoxelWorld` that is not connected. + + .. seealso:: The flag corresponds to the `fixateModulesByOne` parameter + of :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld`. diff --git a/branch/wait-delay/_sources/rofilib/configurations/voxel.rst.txt b/branch/wait-delay/_sources/rofilib/configurations/voxel.rst.txt new file mode 100644 index 000000000..e26cace29 --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/configurations/voxel.rst.txt @@ -0,0 +1,86 @@ +Voxel Configuration +=================== + +.. seealso:: + The Voxel configuration is mainly developed in + `Rust `_ + and as such has its own documentation. + +Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules. + +For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation: + + - All modules have to be a Universal module. + - All joint values have to be a multiple of 90 degrees. + - Modules are not distinguishable. + - Shoes of modules and rotations are not distinguishable + if they can be mapped to each other. + - The configuration is not fixed in space. + +These limitations imply that symmetries are baked into the representation. + +.. contents:: + +.. note:: + The name `Voxel `_ + comes from the original idea representing the world as a 3D grid + of values that are either empty or contain a shoe of a RoFI module. + + Since then the representation of the voxel world has shifted and + it is no longer stored as a 3D vector of values, but the meaning + and name `Voxel` stayed the same. + +Explicit Connections +-------------------- + +Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code. + +Voxel Configuration in Cpp +-------------------------- + +The class representing Voxel configuration in cpp +is :cpp:class:`rofi::voxel::VoxelWorld`. +:cpp:class:`rofi::voxel::VoxelWorld` can be easily converted to and from +:cpp:class:`rofi::configuration::RofiWorld` +by :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` +and :cpp:func:`rofi::voxel::VoxelWorld::fromRofiWorld` respectively. + +.. note:: + When converting from :cpp:class:`rofi::voxel::VoxelWorld` + to :cpp:class:`rofi::configuration::RofiWorld`, + :cpp:func:`rofi::voxel::VoxelWorld::toRofiWorld` expects + that the :cpp:class:`rofi::voxel::VoxelWorld` is connected. + + If you want to convert :cpp:class:`rofi::voxel::VoxelWorld` that + isn't connected, you can set parameter `fixateModulesByOne`. + +Types, Constants and Support Classes +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. doxygenconstant:: rofi::voxel::precision + :project: lib + +.. doxygentypedef:: rofi::voxel::Position + :project: lib + +.. doxygenenum:: rofi::voxel::Axis + :project: lib + +.. doxygenenum:: rofi::voxel::JointPosition + :project: lib + +.. doxygenstruct:: rofi::voxel::Direction + :project: lib + +Classes +^^^^^^^ + +.. doxygenstruct:: rofi::voxel::Voxel + :project: lib + +.. doxygenstruct:: rofi::voxel::VoxelWorld + :project: lib diff --git a/branch/wait-delay/_sources/rofilib/index.rst.txt b/branch/wait-delay/_sources/rofilib/index.rst.txt new file mode 100644 index 000000000..272565b4f --- /dev/null +++ b/branch/wait-delay/_sources/rofilib/index.rst.txt @@ -0,0 +1,13 @@ +RoFILib +======= + +The main building block is a configuration. +The primary configuration is a :cpp:class:`RofiWorld `. + +.. toctree:: + configurations/index + +Atoms is a collection of helper libraries that are used throughout the project. + +.. toctree:: + atoms/index diff --git a/branch/wait-delay/_sources/tutorials/index.rst.txt b/branch/wait-delay/_sources/tutorials/index.rst.txt new file mode 100644 index 000000000..5bcb7f2be --- /dev/null +++ b/branch/wait-delay/_sources/tutorials/index.rst.txt @@ -0,0 +1,5 @@ +Tutorials +========= + +.. toctree:: + simulator.md diff --git a/branch/wait-delay/_sources/tutorials/simulator.md.txt b/branch/wait-delay/_sources/tutorials/simulator.md.txt new file mode 100644 index 000000000..08ec5a923 --- /dev/null +++ b/branch/wait-delay/_sources/tutorials/simulator.md.txt @@ -0,0 +1,268 @@ +# Simulator Tutorial + +```{tip} +It is recommended that after each task you try to compile and run your code. +``` + + +## Task 0: Setup + +### Compile and run SimpleSim +See [RoFI Compilation](https://paradise-fi.github.io/RoFI/intro/compiling). +For this tutorial you will need the +[desktop suite](https://paradise-fi.github.io/RoFI/intro/suites/desktop). + +After installing all the prerequisities, run Simplesim using the +[Quick start SimpleSim example](https://paradise-fi.github.io/RoFI/intro/compiling#simplesim). + +### Create a folder for your solution + +Create a directory for your solution in `tutorials/simulator/` +(with any name that you like). + +```{note} +You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the `RoFI` repository. +``` + + +## Task 1: Create a Configuration + +Create a file `configuration.json` that will contain a configuration with: + - id 12: Universal module + - id 42: Pad 6×3 + +Connect the Universal module by the `A-Z` connector to the pad with `North` +orientation at position: +``` +O O O O O O +X O O O O O +O O O O O O +``` + +```{note} +You can also try to create the configuration in code and serialize it using the library. +``` + +### Walkthrough + +Go to documentation for +[configuration serialization](https://paradise-fi.github.io/RoFI/rofilib/configuration#serialization). + + +## Task 2: Create Hello World for Universal Module + +Create a file `module_code.cpp` that will print `"Hello world {id}!"` +with the local module's id to the standard output. + +```{tip} +Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn't be assigned any module. +``` + +### Walkthrough + + 1. Create file `module_code.cpp` and `CMakeLists.txt` in your solution folder. + + 2. Add the executable in `CMakeLists.txt` and link library `rofi::hal`. + ```cmake + # CMakeLists.txt + + add_executable(tutorial-simulation module_code.cpp) + target_link_libraries(tutorial-simulation rofi::hal) + ``` + + 3. Update `tutorials/simulator/CMakeLists.txt` to include your directory + (by adding it to the list `SOLUTION_DIRS`). + + ```{note} + This is the only time in this tutorial that you won't create your own file, + but rather change an existing one. + ``` + + 4. Create the `module_code.cpp` file with `main` function that will print + the required information. + + ```{hint} + See [RoFI HAL documentation](https://paradise-fi.github.io/RoFI/rofihal). + ``` + +```{hint} +After compiling your code (using `rmake`), the executable will be in your path +when you are in RoFI environment. +``` + + +## Task 3: Move Universal Module + +Modify `module_code.cpp` such that the Universal module will move to the position: +``` +O O O O O O +O O O O O X +O O O O O O +``` + +The module should be connected by connector `B-Z` with `North` orientation. + +```{tip} +The default position of `rofi::hal::Connector` is extended. + +So you don't need to extend the connectors of Pad, +but you need to retract a connector before connecting. +``` + +````{note} +The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use {class}`std::promise` to synchronize the calls. +```{caution} +There is no guarantee that the thread in which the callback is called will end. +So use {func}`std::promise::set_value` instead of +{func}`std::promise::set_value_at_thread_exit`. +``` +```` + +### Walkthrough + +This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly. + + 1. Add blocking versions of {func}`rofi::hal::Joint::setPosition` + and {func}`rofi::hal::RoFI::wait`. + + ````{hint} + ```{code} + void blockingFunc() + { + auto funcPromise = std::promise< void >(); + func( [ & ] { funcPromise.set_value(); } ); + funcPromise.get_future().get(); + } + ``` + ```` + + 2. Add blocking versions of {func}`rofi::hal::Connector::connect` and + {func}`rofi::hal::Connector::disconnect` using + {func}`rofi::hal::Connector::onEvent`. + + Don't forget to avoid dangling references. + + 3. Put it all together. + + ```{tip} + You can use `atoms::Angle` to convert degrees to radians. + ``` + + +## Task 4: Multiple Modules with Same Code + +Create a second Universal module with id `99` connected to the Pad at position Y: +``` +O O O O O O +X O O O O Y +O O O O O O +``` + +Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation. + +The Universal modules should be connected together with the `A-Z` connectors +and they should be connected to the pad at the following positions: +``` +O O O O O O +O X O O Y O +O O O O O O +``` + +Try to program the module code in such a way that it works no matter what ids +the modules have. + +```{hint} +You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration. +``` + +### Walkthrough + + 1. Add a check that code is run in an Universal Module. + + ```{note} + Modules in simulator will get populated by code from the lowest + `rofi::hal::RoFI::Id` to the highest. + ``` + + 2. Update code such that both Universal Modules stop in the middle. + + 3. Get and print the orientation by {func}`rofi::hal::Connector::getState`. + + +## Task 5: Module Communication + +Update the code in such a way so that after both Universal modules meet +in the middle, they: + 1. Select a direction to a side. + + 2. Disconnect from each other. + + 3. Move in the selected direction. + + ```{hint} + You will need to rotate with the gamma joint. + ``` + + 4. Connect to each other at the new position. + + The Universal modules should be again connected together with the `A-Z` connectors. + They should now be connected to the pad **right next to each other**. + +Again, try to program the module code in such a way that it works no matter +what ids the modules have. + +### Walkthrough + + 1. Add a function that will use {func}`rofi::hal::Connector::onPacket` + and return whether this module is the master or not. + + ```{hint} + You can use the `rofi::hal::RoFI::Id` since it is always different for + different modules. + ``` + + ```{caution} + Make sure that you set the callback before the other module sends + the packet. + ``` + + 2. Use the knowledge whether the current module id the master to split + the code where you need to. + + +## Task 6: Packet Filter + +Create a packet filter `discard_half.py` that discards every second packet +(counted for each sender module separately). + +Create a configuration and code to test that it works. + +### Walkthrough + + 1. Create a file `discard_half.py` and create a python function + `filter(packet, sender, receiver)`. + + The function should return `(new_packet, delay_ms)`. + The packet is lost if `delay_ms == -1`. + The behaviour when you return other negative values is not specified. + + 2. Create a variable to store the number of packets sent by each module + and throw away every second packet (by returning `-1` delay). + + 3. Create a configuration of two modules connected together. + + ```{note} + Don't forget to fix the position of the modules in space. + ``` + + 4. Add code to test the packet filter. + + 5. Run the simulator using the `-p` command line option. diff --git a/branch/wait-delay/_sources/universalModule/index.rst.txt b/branch/wait-delay/_sources/universalModule/index.rst.txt new file mode 100644 index 000000000..175ee8009 --- /dev/null +++ b/branch/wait-delay/_sources/universalModule/index.rst.txt @@ -0,0 +1,3 @@ +Universal Module +================ + diff --git a/branch/wait-delay/_static/basic.css b/branch/wait-delay/_static/basic.css new file mode 100644 index 000000000..bf18350b6 --- /dev/null +++ b/branch/wait-delay/_static/basic.css @@ -0,0 +1,906 @@ +/* + * basic.css + * ~~~~~~~~~ + * + * Sphinx stylesheet -- basic theme. + * + * :copyright: Copyright 2007-2022 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/* -- main layout ----------------------------------------------------------- */ + +div.clearer { + clear: both; +} + +div.section::after { + display: block; + content: ''; + clear: left; +} + +/* -- relbar 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Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s === 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node, addItems) { + if (node.nodeType === 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && + !jQuery(node.parentNode).hasClass(className) && + !jQuery(node.parentNode).hasClass("nohighlight")) { + var span; + var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.className = className; + } + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + if (isInSVG) { + var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); + var bbox = node.parentElement.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute('class', className); + addItems.push({ + "parent": node.parentNode, + "target": rect}); + } + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this, addItems); + }); + } + } + var addItems = []; + var result = this.each(function() { + highlight(this, addItems); + }); + for (var i = 0; i < addItems.length; ++i) { + jQuery(addItems[i].parent).before(addItems[i].target); + } + return result; +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + this.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated === 'undefined') + return string; + return (typeof translated === 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated === 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash && $.browser.mozilla) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) === 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + var url = new URL(window.location); + url.searchParams.delete('highlight'); + window.history.replaceState({}, '', url); + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar : function() { + $('input[name=q]').first().focus(); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this === '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + return; + + $(document).keydown(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box, textarea, dropdown or button + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' + && activeElementType !== 'BUTTON') { + if (event.altKey || event.ctrlKey || event.metaKey) + return; + + if (!event.shiftKey) { + switch (event.key) { + case 'ArrowLeft': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + break; + case 'ArrowRight': + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) + break; + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + break; + case 'Escape': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.hideSearchWords(); + return false; + } + } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case '/': + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) + break; + Documentation.focusSearchBar(); + return false; + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + Documentation.init(); +}); diff --git a/branch/wait-delay/_static/documentation_options.js b/branch/wait-delay/_static/documentation_options.js new file mode 100644 index 000000000..724e38257 --- /dev/null +++ b/branch/wait-delay/_static/documentation_options.js @@ -0,0 +1,14 @@ +var DOCUMENTATION_OPTIONS = { + URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), + VERSION: '', + LANGUAGE: 'None', + COLLAPSE_INDEX: false, + BUILDER: 'html', + FILE_SUFFIX: '.html', + LINK_SUFFIX: '.html', + HAS_SOURCE: true, + SOURCELINK_SUFFIX: '.txt', + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, +}; \ No newline at end of file diff --git a/branch/wait-delay/_static/file.png b/branch/wait-delay/_static/file.png new file mode 100644 index 000000000..a858a410e Binary files /dev/null and b/branch/wait-delay/_static/file.png differ diff --git a/branch/wait-delay/_static/jquery-3.5.1.js b/branch/wait-delay/_static/jquery-3.5.1.js new file mode 100644 index 000000000..50937333b --- /dev/null +++ b/branch/wait-delay/_static/jquery-3.5.1.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/index.html b/branch/wait-delay/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/branch/wait-delay/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/intro/compiling.html b/branch/wait-delay/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/branch/wait-delay/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/intro/index.html b/branch/wait-delay/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/branch/wait-delay/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/intro/structure.html b/branch/wait-delay/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/branch/wait-delay/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/intro/suites/desktop.html b/branch/wait-delay/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/branch/wait-delay/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/intro/suites/doc.html b/branch/wait-delay/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/branch/wait-delay/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/intro/testing.html b/branch/wait-delay/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/branch/wait-delay/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/objects.inv b/branch/wait-delay/objects.inv new file mode 100644 index 000000000..8e147a191 Binary files /dev/null and b/branch/wait-delay/objects.inv differ diff --git a/branch/wait-delay/releng/index.html b/branch/wait-delay/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/branch/wait-delay/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/roficom/index.html b/branch/wait-delay/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/branch/wait-delay/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofihal/index.html b/branch/wait-delay/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/branch/wait-delay/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/atoms/containers.html b/branch/wait-delay/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/branch/wait-delay/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/atoms/index.html b/branch/wait-delay/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/branch/wait-delay/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/atoms/patterns.html b/branch/wait-delay/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/branch/wait-delay/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/atoms/resources.html b/branch/wait-delay/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/branch/wait-delay/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/atoms/result.html b/branch/wait-delay/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/branch/wait-delay/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/index.html b/branch/wait-delay/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/parsing_in_cpp.html b/branch/wait-delay/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/rofiworld.html b/branch/wait-delay/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..ea3441be9 --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/rofiworld.html @@ -0,0 +1,1355 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> isValid(Collision collisionModel = Collision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+template<typename Collision = SimpleCollision>
inline atoms::Result<std::monostate> validate(Collision collisionModel = Collision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision
+

Collision model ignoring collision.

+
+

Public Functions

+
+
+inline bool operator()(const Module&, const Module&, Matrix, Matrix)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision
+

Collision model taking into account only spherical collisions of the shoes.

+
+

Public Functions

+
+
+inline bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB)
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/serializations/json.html b/branch/wait-delay/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/serializations/voxel.html b/branch/wait-delay/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/tooling_usage.html b/branch/wait-delay/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/configurations/voxel.html b/branch/wait-delay/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/branch/wait-delay/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/rofilib/index.html b/branch/wait-delay/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/branch/wait-delay/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/search.html b/branch/wait-delay/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/branch/wait-delay/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
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    • +
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+
+
+
+ + + + +
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+ + + + + + + + + \ No newline at end of file diff --git a/branch/wait-delay/searchindex.js b/branch/wait-delay/searchindex.js new file mode 100644 index 000000000..d2343bc84 --- /dev/null +++ b/branch/wait-delay/searchindex.js @@ -0,0 +1 @@ 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\u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/branch/wait-delay/tutorials/index.html b/branch/wait-delay/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/branch/wait-delay/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+ +
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/tutorials/simulator.html b/branch/wait-delay/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/branch/wait-delay/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/branch/wait-delay/universalModule/index.html b/branch/wait-delay/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/branch/wait-delay/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/genindex.html b/genindex.html new file mode 100644 index 000000000..d28967d0f --- /dev/null +++ b/genindex.html @@ -0,0 +1,1009 @@ + + + + + + Index — The RoFI Platform documentation + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Index
    • +
  • +
    • +
+
+
+
+
+ + +

Index

+ +
+ A + | L + | R + +
+

A

+ + + +
+ +

L

+ + +
+ +

R

+ + + +
+ + + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 000000000..2b64bff34 --- /dev/null +++ b/index.html @@ -0,0 +1,305 @@ + + + + + + + RoFI — Technical Documentation — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI — Technical Documentation

+

This document provides the technical documentation for the RoFI Platform. Start by selecting the topic:

+ +++++ + + + + + + + + + + + + + + + + + + +

Getting Started

Release engineering

RoFI HAL

Getting Started

Release engineering

RoFI HAL

RoFI Library

RoFICoM

Universal Module

RoFI Library

RoFICoM

Universal Module

+

Note that you can preview the development version of the documentation on +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>.

+
+

Contents:

+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/intro/compiling.html b/intro/compiling.html new file mode 100644 index 000000000..19ce9eb0a --- /dev/null +++ b/intro/compiling.html @@ -0,0 +1,385 @@ + + + + + + + RoFI Compilation — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Compilation

+

We provide an overview of the build process of the project. One important note, +the RoFI build process works on Linux nad MacOS. You cannot build the project on +Windows at the moment.

+

To compile the project, ensure that you have Python 3, CMake and make installed. +The compilation suites might require additional dependencies; see the suites +pages in the menu on the left for more details.

+

If you are interested only in the “step-by-step tutorial” on building, feel free +to skip to the section Quick start example.

+
+

Build environment

+

To lift the burden of compiling and running targets we provide a script to setup +proper development environment. This setups PATH to management tools, +compiled binaries and also provides other environmental variables required by +the build.

+

When you set up the environment, you specify which type of environment you want: +either Release (the default) or Debug.

+

So whenever you want to work with the project, invoke in your shell:

+
$ source setup.sh Release
+
+
+

This will setup your current shell for RoFI. If you want to change the +configuration, simply invoke source setup.sh Debug to e.g., switch to a +debug configuration. Or invoke teardown to return your shell to original +state.

+

If you would like to also compile the firmware for the physical robots, you +should invoke the setup command with -i. This will setup ESP-IDF, which is +necessary to compile suite esp32.

+

Once you setup the environment, you have management commands available in your +shell (e.g., rcfg and rmake). Then you can proceed to configuration of +compilation suites and building targets.

+

Note that if you would like to make setup.sh silent (e.g., when benchmarking +or running in CI), you can pass the option -s to make it silent.

+

Also, if you would like to be able to detect if you are in RoFI-aware shell, you +can add the environmental variable ROFI_SHELL_INDICATOR to your prompt. It +will show and icon of the robot and, also, the marking of currently active +configuration.

+

The build directories are constructed as +build.${ROFI_BUILD_PREFIX}${SELECTED_COFIGURATION}. Therefore, if you have a +need for multiple build directories, you can specify environmental variable +ROFI_BUILD_PREFIX before invoking setup.sh to distinguish them.

+
+
+

Compilation suites

+

The project compilation is organized into so-called suites. Suite is a +collection of entities (not necessarily programs), that are build in a similar +fashion (e.g., using a standard desktop compiler, compiler for microcontrollers, +documentation building tool). Note that the suites are organized mainly +according to build process, they might not be grouped logically. A suite is the +smallest unit, you can configure for compilation.

+

Currently, there are the following suites:

+
    +

  • desktop: Programs and libraries running on a desktop computer. That +includes simulators, benchmarking tools etc.

    • +

  • hardware: Hardware components for RoFI. Building this +target creates e.g., .stl files for printing, ZIP packages containing +gerber files for PCB production, bill-of-materials, etc.

    • +

  • stm32: Firmware for the microcontrollers on hardware modules based on +STM32 microcontrollers. This does not include the RoFI programs. Think of +this as the part of the hardware, that just have to be build separately.

    • +

  • esp32: The actual programs that are deployed to the RoFI modules.

    • +

  • doc: This documentation.

    • +
+

The suites are represented by directories in ${PROJECT_ROOT}/suites. +Basically, each suite is a separate CMake project defining the build process for +the given suite. If a suite has development dependencies, they are specified in +the readme.md file in the suite directory.

+

You can setup the compilation units via invoking:

+
$ rcfg desktop firmware                 # Setup desktop and firmware suites
+$ rcfg desktop -- -DBUILD_HEADLESS=true # Setup desktop with headless build option
+$ rcfg -desktop                         # Unconfigure the desktop suite
+
+
+

Note that tab-completion works for this command. Once you setup the suites, you +can proceed to the compilation. You can also pass extra options to the +underlying CMake project via -- – everything after -- is passed to the +CMake.

+

We recommend you to configure only the suites your are interested in so you can +minimize the number of dependencies you have to met (e.g., it makes no sense to +configure the firmware, thus install the embedded compiles, if you only plan to +develop desktop applications).

+

You can learn about the suite-specific configurations in the following sections:

+
+ +
+
+
+

Compilation targets

+

Each suite provides usually several compilation targets (just like CMake or make +does). Targets are the smallest unit you can build. Once you have configured +suites, you can list all possible targets via:

+
$ rmake --list
+
+
+

With output similar to the following:

+
Available suites: firmware, desktop, rofiFirmware, hardware, doc
+
+Available targets for suite firmware:
+    None
+
+Available targets for suite desktop:
+    atoms-test: softwareComponents/atoms
+    configuration: softwareComponents/configuration
+    generators: softwareComponents/configuration
+    configuration-test: softwareComponents/configuration
+    rofi-reconfig: softwareComponents/reconfig
+    reconfig: softwareComponents/reconfig
+    reconfig-test: softwareComponents/reconfig
+    smt-reconfig-lib: softwareComponents/smtreconfig
+    smt-reconfig: softwareComponents/smtreconfig
+    smt-reconfig-test: softwareComponents/smtreconfig
+    rofi-vis: tools/visualizer
+    rofi-vis-test: tools/visualizer
+    rofi-app: tools/visualizer
+    rofi-generate: tools/generate
+    rofi-emptyDockFill: tools/emptyDockFill
+    rofi-topology2dot: tools/topology2dot
+
+Available targets for suite rofiFirmware:
+    None
+
+Available targets for suite hardware:
+    None
+
+Available targets for suite doc:
+    doc: doc
+
+
+

The output gives you list of all suites, targets and their location in the +source tree. Note that only configured targets are shown. To actually compile a +target, you can specify one more targets to rmake:

+
$ rmake desktop    # Compile all targets from the suite desktop
+$ rmake rofi-vis   # Compile only target rofi-vis (and its dependencies)
+$ rmake tools/     # Compile all targets that are in the source tree under prefix
+$ rmake tools/ doc # You can mix various types of targets
+$ rmake --all      # Compile everything
+
+
+

Note that once you compile a target, you can directly run the binaries as they +are in PATH. If you would like to inspect the build artifacts, they are +located in the directory build.{Configuration}/{suiteName}.

+

rmake also recognizes phony targets clean and clean-<suitename> that +clean all suites or given suite respectively.

+

In case you would like to run clang-tidy on the sources, you can use rmake +--tidy <pattern>. The clang-tidy will be invoked on all sources matching the +pattern.

+

The rmake tool internally uses Ninja (with fallback to Make). Since Ninja is +much faster (especially on incremental builds) we advise you to have it +installed.

+
+
+

Flashing robots and hardware modules

+

The RoFI environment offers two tools: rflash and rmonitor that allows +you to flash images to hardware devices and to monitor their debug outputs. The +tools are automatically deduced from the image.

+

Both tools have the same usage:

+
$ rflash <image_name> -- <optional extra arguments for the underlying tool>
+$ rmonitor <image_name> -- <optional extra arguments for the underlying tool>
+
+
+

Note that the image is mandatory for the monitor command as it is used to decode +stack traces and also, to determine the correct connection parameters.

+
+
+

Advanced configuration of the build process

+

In the case when you need to override the default tools and path used, e.g., +when you want to force a particular version of compiler, there are two files +that are sourced into the environment during invocation of source setup.sh: +~/.rofi.pre.env and ~/.rofi.post.env. If these files exist, they are +sourced into the environment. Here you can, e.g., enforce a particular compiler +version:

+
# .rofi.post.env
+
+export CC=$(command -v gcc-11)
+export CXX=$(command -v g++-11)
+
+
+

The extra tools that setup.sh downloads, are placed in a directory marked by +the environmental variable ROFI_TOOLS_PATH. If the variable is not set, it +defaults to ROFI_ROOT/build.deps. You might want to set this variable in the +case when you work on multiple worktrees to save disk space – ESP-IDF consumes +about 2.5 GB of disk space.

+
+
+

Quick start example

+

To quickly start with RoFI development, we provide a short step-by-step guide:

+
$ source setup.sh Debug # Setup your terminal for compiling RoFI in Debug mode
+$ rcfg desktop doc      # Configure the suites you want
+$ rmake --all           # Build everything you have configured
+$ rmake tools/          # ... or build only all tools
+$ rofi-vis              # Run the compiled tool
+
+
+
+
+

Quick start Simulator example

+

To quickly start with simulating RoFI, we provide a short step-by-step guide.

+

Compiling and running the RoFI module code for simulators is the same, +only the setup for simulator changes.

+
+

GazeboSim

+
$ source setup.sh Debug                     # Setup your terminal in Debug mode
+                                            # This also sets the necessary gazebo paths and variables
+$ rcfg desktop && rmake desktop             # Configure the desktop suite and build it
+$ gazebo worlds/two_modules.world --verbose # Run gazebo. We recommend using --verbose for more info
+
+
+
+
+

SimpleSim

+
$ source setup.sh Debug         # Setup your terminal in Debug mode
+$ rcfg desktop && rmake desktop # Configure the desktop suite and build it
+$ rofi-simplesim --help         # Display help
+$ rofi-simplesim data/configurations/json/single.json # Run simplesim
+
+
+
+
+

Module code

+
+

Attention

+

When compiling the module code that you want to run in a simulator, make sure +to link it with the correct RoFI HAL library rofi_hal_sim.

+
+

In a different terminal then where you run the simulator, +run the module code for each module that you want to control:

+
$ source setup.sh    # Setup your terminal
+$ basicJointPosition # Run the compiled module code
+
+
+

If you are interested in controlling the simulation via Python instead of C++, +you can follow example examples/simulator/pythonInterface:

+
$ python3 examples/simulator/pythonInterface/oscilate.py
+
+
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/intro/index.html b/intro/index.html new file mode 100644 index 000000000..f3a1e1a6d --- /dev/null +++ b/intro/index.html @@ -0,0 +1,166 @@ + + + + + + + Introduction, compiling and structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Introduction, compiling and structure

+

Welcome to the RoFI project. In this chapter we will give you the basic overview +on the sources & data organization in the repository. We will also show you, how +to compile the project.

+

First, start by cloning the project repository:

+
$ git clone https://github.com/paradise-fi/RoFI.git
+$ git clone git@github.com:paradise-fi/RoFI.git # If you have SSH keys set up
+
+
+

Then proceed to the following sections:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/intro/structure.html b/intro/structure.html new file mode 100644 index 000000000..af75c2be4 --- /dev/null +++ b/intro/structure.html @@ -0,0 +1,160 @@ + + + + + + + Project Structure — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Project Structure

+

The project is organized as a mono-repository, that is all the sources for the +whole project are in a single Git repository.

+

There are the following directories:

+
    +

  • hardwareModules: All the hardware modules. CAD models, PCBs and related +firmware.

    +
    +
      +

    • RoFICoM: All sources for the mechanical connnector

      • +

    • universalModule: All sources for the universal module (does not +contain concrete RoFI applications)

      • +
    +
    +
    • +

  • softwareComponents: All libraries provided by the project. We do not +distinguish whether the libraries target embedded or desktop. Each directory +is single library and has its readme file containing further details. Some of +the notable libraries are:

    +
    +
      +

    • atoms: A library of general-purpose data structures and algorithms. +This library has a dedicated section of +the documentation.

      • +

    • configuration: A library for representation of a RoFIBot. See +documentation.

      • +

    • rofiHalSim and rofiHalEsp32: The hardware abstraction layer for +RoFI modules.

      • +
    +
    +
    • +

  • tools: The tools for working with RoFI

    • +

  • tutorials: Tutorials intended to get you familiar with the project.

    • +

  • examples: A self-contained, easily executable examples demonstrating the +the project. Often referred from this documentation.

    • +

  • applications: RoFI applications (case-studies, programs for the modules)

    • +

  • data: All resources (simulator models, library of configurations)

    • +

  • media: Pictures & videos of the project used in readmes.

    • +

  • releng: Packaging & compilation

    • +

  • doc: This documentation

    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/intro/suites/desktop.html b/intro/suites/desktop.html new file mode 100644 index 000000000..560fc4263 --- /dev/null +++ b/intro/suites/desktop.html @@ -0,0 +1,173 @@ + + + + + + + Desktop Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Desktop Suite

+

The basic suite containing mainly the tools for defining and manipulating RoFI +shape, algorithmic libraries and benchmarks.

+
+

Dependencies

+

Refer to suites/desktop/Dockerfile for the up-to-date reference build and +development environment. On top of basic C/C++ dependencies, the following extra +libraries are required to be installed:

+
    +

  • Armadillo: for APT-based system, install +libarmadillo-dev

    • +

  • VTK >=7: for APT-based system, install libvtk7-dev

    • +

  • QT 5 and QT-VTK: for APT-based system, install +libvtk7-qt-dev qtdeclarative5-dev

    • +

  • GazeboSim >=11: for APT-based system, install +libgazebo11-dev. This dependecy can be removed using the build options.

    • +

  • Z3: this dependency is only needed for +compiling SMT reconfiguration.

    • +
  • +
    Clp: for APT-based system, install

    coinor-clp coinor-libclp-dev

    +
    +
    +
    • +
+

On top of the build dependencies, FFMpeg and Inkscape are required to use the +animation feature of the visualizer.

+
+
+

Build options

+
    +

  • BUILD_HEADLESS (default FALSE): Build only parts of the project that +can run headlessly. I.e., does not compile visualizer nor rofi-app.

    • +

  • BUILD_GAZEBO (default TRUE): Build parts that require gazebo libraries.

    • +

  • BUILD_RUST (default TRUE): Build parts that contain or depend on Rust.

    • +

  • BUILD_SMTRECONFIG (default FALSE): Defines whether to build the +library for reconfiguration via reduction to SMT. The library is not directly +applicable and also brings heavy dependency in the form of Z3, thus it makes +sense to do not compile it by-default.

    • +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/intro/suites/doc.html b/intro/suites/doc.html new file mode 100644 index 000000000..4001bac43 --- /dev/null +++ b/intro/suites/doc.html @@ -0,0 +1,154 @@ + + + + + + + Documentation Suite — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+ +
+

Documentation Suite

+

This suite builds this documentation. The documentation is build using Sphinx +and Breathe.

+
+

Dependencies

+

To build the documentation, Sphinx, Breathe, Sphinx-RTD-Theme, MyST, +Doxygen and Graphviz are required.

+

On APT based system, these dependencies can be installed via:

+
$ apt-get install doxygen graphviz
+$ pip3 install sphinx breathe myst_parser sphinx-rtd-theme
+
+
+

If you intend to use rmake –doc command, you need to install additional package

+
$ apt-get install inotify-tools
+
+
+
+
+

Build options

+

There are no build options.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/intro/testing.html b/intro/testing.html new file mode 100644 index 000000000..d8409aad1 --- /dev/null +++ b/intro/testing.html @@ -0,0 +1,183 @@ + + + + + + + Writing and running tests — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Writing and running tests

+

The project features a number of unit tests. If you develop a new part of the +project, your are encouraged to write them. Not only it makes your life easier +(as it is much easier to code and debug against tests), but you also ensure that +nobody will break your code in the future without knowing about it.

+

All tests are run on every commit and pull request on GitHub automatically. If +the tests fail, you will be notified via email.

+
+

Running the test

+

You can easily run the test via rmake --test <argument>. You can specify the +following arguments:

+
rmake --test --all               Compile and run all configured tests
+rmake --test <testTargetName>... Compile and run test for target
+rmake --test <pathName>...       Compile and run tests from given path prefix
+rmake --test <suitename>...      Compile and run tests from given suite
+
+
+

The command will compile and run specified tests. Also, the tab-completion shows +you the available options. Note that only tests from configured suites are +available.

+

You can specify the test based on the same criterion as compilation targets. So you can run tests for the whole +suite, given a test or all tests in the specified path prefix. For the sake of +simplicity, you currently cannot pass any arguments to the tests. If you need +to do so, you can always invoke the test executable directly.

+
+
+

Writing tests

+

For the purposes of RoFI, a test is an executable in PATH that satisfies the +following:

+
    +

  • its name starts with the prefix test-,

    • +

  • it has an associated CMake target in one of the projects,

    • +

  • it can run with no command line arguments,

    • +

  • if and only if the tests fails, the return code is non-zero, and

    • +

  • it gives user-readable output on the stdout/stderr indicating what went wrong +in the case of failure.

    • +
+

Usually, a test will a be Catch2 binary +registered in CMake. But it can also be e.g., a shell script or Python script +that setups much more complex tests. In case of hardware, it can be a script +that flashes the target microcontroller with a test binary and captures the +output on a debug serial line.

+
+
+

Writing test for C++

+

As most of the components for RoFI are written in C++, we provide a simple guide +for writing C++ tests. We use Catch2 as +the primary testing framework. You should use it if don’t have a particular +reason to not use it.

+

Most of the compilation suites already provide it, so simply include it in your +CMake like this:

+

And that’s everything you need. Now you can just write test source files in the +test directory. See Catch2 tutorial for more +details.

+

If your software module is not header-only, it makes sense to extract it into a +static library and link that library to your executable and tests. It will +significantly speed-up the compilation as you don’t have to compile all sources +twice.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/objects.inv b/objects.inv new file mode 100644 index 000000000..7c051fb0a Binary files /dev/null and b/objects.inv differ diff --git a/releng/index.html b/releng/index.html new file mode 100644 index 000000000..1b488132e --- /dev/null +++ b/releng/index.html @@ -0,0 +1,146 @@ + + + + + + + Release engineering notes — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Release engineering notes

+

This document describes several important notes about release engineering of +RoFI.

+
+

Continuous integration

+

The projects uses GitHub actions as CI backend. The build process is described +by the file .github/workflows/build.yml. The build tries to build every +suite and if present, run suite tests.

+

To save building and pulling build dependencies every time, the individual +stages run in Docker container. The images are hosted by ghcr.io and every +member of the organization paradise-fi can +access it. Note that you need to invoke docker login to get access to +ghcr.io. You can read more in GitHub +documentation.

+

The images are defined by the files Dockerfile and Dockerfile.doc. The +images are shared across all branches (in order to save space). The images can +also be automatically updated via invoking releng/tools/updateDockerImages.

+
+
+

Documentation

+

This documentation is build under the suite doc. The build process is driven by +the suite. Under the hood it uses Doxygen and Spinx.

+

In order to build per-branch documentation (available under +https://paradise-fi.github.io/RoFI/branch/<git_branch_name>) the master +branch has an extra build step which checks out all branches pushed to origin +and builds them. For security reasons, builds cannot trigger other builds, +therefore the master branch is built every night in order to ensure the +documentation is up-to-date.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/roficom/index.html b/roficom/index.html new file mode 100644 index 000000000..d9aeab6ee --- /dev/null +++ b/roficom/index.html @@ -0,0 +1,114 @@ + + + + + + + RoFICoM — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFICoM

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofihal/index.html b/rofihal/index.html new file mode 100644 index 000000000..51b6ae1cd --- /dev/null +++ b/rofihal/index.html @@ -0,0 +1,1145 @@ + + + + + + + RoFI HAL — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI HAL

+

RoFI Hardware Abstraction Layer, RoFI HAL for short, allows to use the same +code for both the physical RoFIs and for the simulated ones.

+
+

Types and Constants

+
+
+enum class rofi::hal::ConnectorPosition : bool
+

Connector position.

+

Values:

+
+
+enumerator Retracted
+
+ +
+
+enumerator Extended
+
+ +
+ +
+
+enum class rofi::hal::ConnectorOrientation : signed char
+

Connection orientation.

+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+enum class rofi::hal::ConnectorLine : bool
+

Connector power line.

+

Values:

+
+
+enumerator Internal
+
+ +
+
+enumerator External
+
+ +
+ +
+
+enum class rofi::hal::ConnectorEvent : signed char
+

Connector event.

+

Values:

+
+
+enumerator Connected
+

Connection with other Connector started.

+
+ +
+
+enumerator Disconnected
+

Connection with other Connector ended.

+
+ +
+
+enumerator PowerChanged
+

Power status (voltage or current) changed.

+
+ +
+ +
+
+struct ConnectorState
+

Connector state descriptor.

+
+

Public Members

+
+
+ConnectorPosition position = ConnectorPosition::Retracted
+

Position of the Connector.

+
+ +
+
+bool internal = false
+

Is internal power bus connected to the connector?

+
+ +
+
+bool external = false
+

Is the external power bus connected to the connector?

+
+ +
+
+LidarDistanceMode distanceMode = LidarDistanceMode::Autonomous
+

The current distance mode of the RoFICoM’s Lidar.

+
+ +
+
+bool connected = false
+

Is there a mating side connected?

+
+ +
+
+ConnectorOrientation orientation = ConnectorOrientation::North
+

Orientation of the connection. Applicable only when connected.

+
+ +
+
+float internalVoltage = 0.f
+

Internal voltage of the Connector.

+
+ +
+
+float internalCurrent = 0.f
+

Internal current of the Connector.

+
+ +
+
+float externalVoltage = 0.f
+

External voltage of the Connector.

+
+ +
+
+float externalCurrent = 0.f
+

External current of the Connector.

+
+ +
+
+LidarStatus lidarStatus = LidarStatus::NotMeasured
+

Status of lidar measurement.

+
+ +
+
+uint16_t distance = 0
+

Lidar measured distance in mm. Validity depends on lidarStatus.

+
+ +
+
+ +
+
+

Classes

+
+
+class RoFI
+

Proxy for accessing RoFI hardware.

+

The class has a private constructor - you can obtain an instance by calling static methods RoFI::getLocalRoFI and RoFI::getRemoteRoFI.

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+using Id = int
+

Unique RoFI identifier.

+
+ +
+
+

Public Functions

+
+
+inline Id getId() const
+

Get RoFI Id.

+
+
Returns
+

RoFI Id

+
+
+
+ +
+
+inline Joint getJoint(int index)
+

Get proxy for controlling Joint.

+
+
Parameters
+

index – index of the Joint

+
+
Returns
+

proxy for controlling Joint

+
+
+
+ +
+
+inline Connector getConnector(int index)
+

Get proxy for controlling Connector.

+
+
Parameters
+

index – index of the Connector

+
+
Returns
+

proxy for controlling Connector

+
+
+
+ +
+
+inline Descriptor getDescriptor() const
+

Get RoFI Descriptor.

+
+
Returns
+

RoFI Descriptor

+
+
+
+ +
+
+inline Partition getRunningPartition() const
+

Get partition from which running firmware was loaded.

+
+
Returns
+

partition from which running firmware was loaded

+
+
+
+ +
+
+inline UpdatePartition initUpdate()
+

Initialize firmware update.

+

If this method is called and another update is already in process std::runtime_error is thrown

+
+
Returns
+

UpdatePartition to write the new firmware to

+
+
+
+ +
+
+inline void reboot()
+

Reboot device.

+
+ +
+
+

Public Static Functions

+
+
+static RoFI getLocalRoFI()
+

Get proxy for controlling local RoFI.

+
+
Returns
+

proxy for controlling local RoFI

+
+
+
+ +
+
+static RoFI getRemoteRoFI(Id remoteId)
+

Get proxy for controlling a remote RoFI identified by Id.

+
+
Parameters
+

remoteId – Id of the remote RoFI

+
+
Returns
+

proxy for controlling remote RoFI

+
+
+
+ +
+
+static void sleep(int ms)
+

Blocks the execution for given amount of time.

+
+
Parameters
+

ms – delay in milliseconds

+
+
+
+ +
+
+static void postpone(int ms, std::function<void()> callback)
+

Call callback after given delay.

+

The call is non-blocking.

+

You can assume that the callback will always be called exactly once.

+
+
Parameters
+
    +

  • ms – wait time in milliseconds

    • +

  • callback – non-empty callback to be called after the delay

    • +
+
+
+
+ +
+
+
+struct Descriptor
+

Module shape and capabilities description.

+
+

Public Members

+
+
+int jointCount = 0
+
+ +
+
+int connectorCount = 0
+
+ +
+
+ +
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class and implement the RoFI::getLocalRoFI() and RoFI::getRemoteRoFI() in a cpp file to return RoFI initialized with an instance of your implementation.

+

For method description, see description of RoFI.

+
+

Public Functions

+
+
+virtual Id getId() const = 0
+
+ +
+
+virtual Joint getJoint(int index) = 0
+
+ +
+
+virtual Connector getConnector(int index) = 0
+
+ +
+
+virtual Descriptor getDescriptor() const = 0
+
+ +
+
+virtual Partition getRunningPartition() = 0
+
+ +
+
+virtual UpdatePartition initUpdate() = 0
+
+ +
+
+virtual void reboot() = 0
+
+ +
+
+ +
+ +
+
+class Joint
+

Proxy for controlling a single joint of RoFI.

+

Joint cannot be instantiated on its own; you can obtain its instance from RoFI::getJoint().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Types

+
+
+enum class Error
+

Values:

+
+
+enumerator Communication
+

Cannot communicate with the servo motor.

+
+ +
+
+enumerator Hardware
+

Servo motor responded with an error.

+
+ +
+ +
+
+

Public Functions

+
+
+inline float maxPosition() const
+

Get maximal joint position.

+
+
Returns
+

maximal joint position in rad

+
+
+
+ +
+
+inline float minPosition() const
+

Get minimal joint position.

+
+
Returns
+

minimal joint position in rad

+
+
+
+ +
+
+inline float maxSpeed() const
+

Get maximal joint speed.

+
+
Returns
+

maximal joint speed in rad / s

+
+
+
+ +
+
+inline float minSpeed() const
+

Get minimal joint speed.

+
+
Returns
+

minimal joint speed in rad / s

+
+
+
+ +
+
+inline float maxTorque() const
+

Get maximal joint torque.

+
+
Returns
+

maximal joint torque in N * m

+
+
+
+ +
+
+inline float getVelocity()
+

Get current joint velocity setpoint.

+
+
Returns
+

velocity setpoint in rad / s

+
+
+
+ +
+
+inline void setVelocity(float velocity)
+

Change the joint’s control mode to velocity and move at velocity.

+
+
Parameters
+

velocity – velocity setpoint in rad / s

+
+
+
+ +
+
+inline float getPosition()
+

Get current joint position.

+

This works in all three control modes - position, velocity and torque mode.

+
+
Returns
+

current position in rad

+
+
+
+ +
+
+inline void setPosition(float pos, float velocity, std::function<void(Joint)> callback)
+

Change the joint’s control mode to position and move to position.

+

Calling any joint control method (Joint::setPosition, Joint::setVelocity or Joint::setTorque) before the position is reached will result in the callback never beeing called.

+
+
Parameters
+
    +

  • pos – position setpoint in rad

    • +

  • velocity – velocity limit in rad / s, required to be positive and non-zero

    • +

  • callback – callback to be called once the position is reached

    • +
+
+
+
+ +
+
+inline float getTorque()
+

Get current joint torque.

+
+
Returns
+

current torque in N * m

+
+
+
+ +
+
+inline void setTorque(float torque)
+

Change the joint’s control mode to torque and provide torque.

+
+
Parameters
+

torque – torque setpoint in N * m

+
+
+
+ +
+
+inline void onError(std::function<void(Joint, Error, const std::string&)> callback)
+

Set error handling callback.

+

Calling this method again (on the same Joint) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on error

+
+
+
+ +
+
+inline Joint(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Joint.

+
+

Public Functions

+
+
+virtual const Capabilities &getCapabilities() = 0
+
+ +
+
+virtual float getVelocity() = 0
+
+ +
+
+virtual void setVelocity(float velocity) = 0
+
+ +
+
+virtual float getPosition() = 0
+
+ +
+
+virtual void setPosition(float pos, float velocity, std::function<void(Joint)> callback) = 0
+
+ +
+
+virtual float getTorque() = 0
+
+ +
+
+virtual void setTorque(float torque) = 0
+
+ +
+
+virtual void onError(std::function<void(Joint, Error, const std::string&)> callback) = 0
+
+ +
+
+
+struct Capabilities
+
+

Public Members

+
+
+float maxPosition
+
+ +
+
+float minPosition
+
+ +
+
+float maxSpeed
+
+ +
+
+float minSpeed
+
+ +
+
+float maxTorque
+
+ +
+
+ +
+ +
+ +
+
+class Connector
+

Proxy for controlling a single connector of RoFI.

+

Connector cannot be instantiated on its own; you can obtain its instance from RoFI::getConnector().

+

Since the class is only a proxy it can be safely copied and passed around.

+
+

Public Functions

+
+
+inline ConnectorState getState()
+

Get connector state.

+
+
Returns
+

connector state

+
+
+
+ +
+
+inline void connect()
+

Extend the connector to be ready to accept connection.

+

This action does not establish connection. To react to connections, register a callback via Connector::onConnectorEvent().

+
+ +
+
+inline void disconnect()
+

Retract the connector.

+

Does not release a connection immediately. After the connection is broken physically, calls callback registered via Connector::onConnectorEvent().

+
+ +
+
+inline void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback)
+

Register callback for connector events.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on connector events

+
+
+
+ +
+
+inline void onPacket(std::function<void(Connector, uint16_t, PBuf)> callback)
+

Register callback for incoming packets.

+

The callback takes connector which received the packet, contentType and the packet.

+

Calling this method again (on the same Connector) will overwrite the previous callback. You can call this method with empty function to remove the callback.

+
+
Parameters
+

callback – callback to be called on a packet

+
+
+
+ +
+
+inline void send(uint16_t contentType, PBuf packet)
+

Send a packet to mating side.

+

If no mating side is present, packet is discarded.

+
+ +
+
+inline void connectPower(ConnectorLine line)
+

Connect power of mating side to a power line.

+
+ +
+
+inline void disconnectPower(ConnectorLine line)
+

Disconnect power of mating side from a power line.

+
+ +
+
+inline void setDistanceMode(LidarDistanceMode mode)
+

Sets distance mode for the RoFICoM’s Lidar.

+
+ +
+
+inline Connector(std::shared_ptr<Implementation> impl)
+
+ +
+
+
+class Implementation
+

Interface of the actual implementation - either physical local, physical remote or a simulation one.

+

To provide an implementation, simply inherit from this class.

+

For method description, see description of Connector.

+
+

Public Functions

+
+
+virtual ConnectorState getState() = 0
+
+ +
+
+virtual void connect() = 0
+
+ +
+
+virtual void disconnect() = 0
+
+ +
+
+virtual void onConnectorEvent(std::function<void(Connector, ConnectorEvent)> callback) = 0
+
+ +
+
+virtual void onPacket(std::function<void(Connector, uint16_t contentType, PBuf)> callback) = 0
+
+ +
+
+virtual void send(uint16_t contentType, PBuf packet) = 0
+
+ +
+
+virtual void connectPower(ConnectorLine) = 0
+
+ +
+
+virtual void disconnectPower(ConnectorLine) = 0
+
+ +
+
+virtual void setDistanceMode(LidarDistanceMode) = 0
+
+ +
+
+ +
+ +
+
+

Networking

+
+
+class PBuf
+

RAII wrapper over LwIP pbuff.

+

Makes the PBuf non-copyable, but movable.

+
+

Public Functions

+
+
+inline PBuf(const PBuf &o)
+
+ +
+
+inline PBuf &operator=(PBuf o)
+
+ +
+
+inline PBuf(PBuf &&o)
+
+ +
+
+inline PBuf &operator=(PBuf &&o)
+
+ +
+
+inline ~PBuf()
+
+ +
+
+inline void swap(PBuf &o)
+
+ +
+
+inline pbuf *release()
+

Release owenership of the packet.

+

This function should be called when the packet is passed to a C interface which manages its lifetime.

+
+ +
+
+inline pbuf *get()
+
+ +
+
+inline operator bool() const
+
+ +
+
+inline bool simple() const
+
+ +
+
+inline uint8_t *payload()
+
+ +
+
+inline const uint8_t *payload() const
+
+ +
+
+inline int size() const
+
+ +
+
+inline uint8_t &operator[](int idx)
+
+ +
+
+inline const uint8_t &operator[](int idx) const
+
+ +
+
+inline ChunkIt chunksBegin()
+
+ +
+
+inline ChunkIt chunksEnd()
+
+ +
+
+inline std::string asString()
+
+ +
+
+

Public Static Functions

+
+
+static inline PBuf allocate(int size)
+
+ +
+
+static inline PBuf reference(pbuf *b)
+
+ +
+
+static inline PBuf own(pbuf *b)
+
+ +
+
+static inline PBuf empty()
+
+ +
+
+
+struct Chunk
+
+

Public Functions

+
+
+inline uint8_t *mem()
+
+ +
+
+inline int size()
+
+ +
+
+

Public Members

+
+
+const pbuf *_buf
+
+ +
+
+ +
+
+class ChunkIt
+
+

Public Types

+
+
+using value_type = Chunk
+
+ +
+
+using reference = Chunk&
+
+ +
+
+using pointer = Chunk*
+
+ +
+
+typedef int difference_type
+
+ +
+
+typedef std::forward_iterator_tag iterator_category
+
+ +
+
+

Public Functions

+
+
+inline ChunkIt(pbuf *buf = nullptr)
+
+ +
+
+inline ChunkIt operator++(int)
+
+ +
+
+inline ChunkIt &operator++()
+
+ +
+
+inline reference operator*()
+
+ +
+
+inline pointer operator->()
+
+ +
+
+inline bool operator==(const ChunkIt &o) const
+
+ +
+
+inline bool operator!=(const ChunkIt &o) const
+
+ +
+
+ +
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/atoms/containers.html b/rofilib/atoms/containers.html new file mode 100644 index 000000000..7bcea0464 --- /dev/null +++ b/rofilib/atoms/containers.html @@ -0,0 +1,328 @@ + + + + + + + Containers — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Containers

+

Atoms provide the following containers:

+
    +

  • atoms::HandledSet - container for storing a elements with +automatically assigned identifier.

    • +
+
+

Classes reference

+
+
+template<typename T>
class HandleSet
+

std::vector-based set representation providing reusable integer handles for the inserted elements.

+

You are supposed to insert elements via HandleSet::insert(), which returns unique element handle. Then you can acces this element using HandleSet::operator[]() or erase it using HandleSet::erase(). The insertion is performed in amortized constant time, deletion and element access is performed in constant time.

+

Otherwise this container behaves the same as containers from the standard library.

+
+

Public Types

+
+
+enum class handle_type : typename Container::size_type
+

Values:

+
+ +
+
+using value_type = T
+
+ +
+
+using size_type = typename Container::size_type
+
+ +
+
+using difference_type = typename Container::difference_type
+
+ +
+
+using reference = T&
+
+ +
+
+using const_reference = const T&
+
+ +
+
+using pointer = T*
+
+ +
+
+using const_pointer = const T*
+
+ +
+
+using iterator = Iterator<false>
+
+ +
+
+using const_iterator = Iterator<true>
+
+ +
+
+

Public Functions

+
+
+inline void swap(HandleSet &other)
+

Exchange the contents of the container with other

+
+ +
+
+inline bool empty() const
+

Check if the container has no elements.

+
+ +
+
+inline size_type size() const
+

Return the number of elements in the container.

+
+ +
+
+inline void shrink_to_fit()
+

Request the removal of unused capacity.

+
+ +
+
+inline void reserve(size_type newCapacity)
+

Increase capacity so it’s greater or equal to newCapacity

+
+ +
+
+inline void clear()
+

Erase all elements from the container.

+
+ +
+
+template<typename ...Args>
inline handle_type emplace(Args&&... args)
+

Emplace new element and get its handle.

+
+ +
+
+inline handle_type insert(const T &value)
+

Insert new element and get its handle.

+
+ +
+
+inline handle_type insert(T &&value)
+

Insert new element and get its handle.

+
+ +
+
+inline void erase(handle_type handle)
+

Erase element based on its handle.

+
+ +
+
+inline iterator begin() noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator begin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline const_iterator cbegin() const noexcept
+

Return an iterator to the first element.

+
+ +
+
+inline iterator end() noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator end() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_iterator cend() const noexcept
+

Return the past-the-end iterator.

+
+ +
+
+inline const_reference operator[](handle_type handle) const
+

Access element based on its handle.

+
+ +
+
+inline reference operator[](handle_type handle)
+

Access element based on its handle.

+
+ +
+
+inline bool contains(handle_type handle) const
+

Check if the container contains element based on its handle.

+
+ +
+
+inline iterator find(handle_type handle)
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+inline const_iterator find(handle_type handle) const
+

Return iterator to element based on its handle Returns past-the-end iterator if no such element exists.

+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/atoms/index.html b/rofilib/atoms/index.html new file mode 100644 index 000000000..7023bc04d --- /dev/null +++ b/rofilib/atoms/index.html @@ -0,0 +1,154 @@ + + + + + + + Atoms — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Atoms

+

Atoms contain all the “general purpose utilities”. They do not specifically +belong to the RoFI library and in theory, they could be used in a different +project.

+

Atoms currently provide:

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/atoms/patterns.html b/rofilib/atoms/patterns.html new file mode 100644 index 000000000..7ec0070a0 --- /dev/null +++ b/rofilib/atoms/patterns.html @@ -0,0 +1,460 @@ + + + + + + + Patterns — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Patterns

+

Patterns aim for removing unnecessary boilerplate code from your project for +commonly used programming patterns.

+
+

Visitor Pattern

+

Visitors allow you to separate algorithms from your data structures in object +hierarchy. It allows you to implement new functionality for existing classes +without modifying them (i.e., adding new virtual methods). See Wikipedia for more details.

+

To remove boilerplate, you can use Atoms.

+

Consider a simple class hiearchy of animals:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public Animal {};
+class Dog: public Animal {};
+
+
+

To make them visitable via atoms, you need to modify your definition a little +bit:

+
class Cat; // Forward declaration, so we can define Visitor
+class Dog; // Forward declaration, so we can define Visitor
+
+// Our visitor base class has to be defined before the base class, so we can
+// specify the visitor type in the definition
+using AnimalVisitor = atoms::Visits< Cat, Dog >;
+
+class Animal: public atoms::VisitableBase< Animal, AnimalVisitor > {
+public:
+    virtual ~Animal() = default;
+};
+
+class Cat: public atoms::Visitable< Animal, Cat > {}; // Make cat visitable
+class Dog: public atoms::Visitable< Animal, Dog > {}; // Make dog visitable
+
+
+

Now you can hand-craft a traditional visitor and use it:

+
class TypeVisitor: public AnimalVisitor {
+public:
+    void operator()( Cat& a ) override {
+        result = "cat";
+    }
+
+    void operator()( Dog& b ) override {
+        result = "dog";
+    }
+
+    std::string result;
+};
+
+// ...and when you want to use it:
+Cat cat;
+Dog dog;
+Animal *hiddenCat = &cat;
+Animal *hiddenDog = &dog;
+
+TypeVisitor visitor;
+cat.accept( visitor );
+std::cout << visitor.result << "\n";
+
+dog.accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+hiddenDog->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

With atoms, you can even construct a visitor in place from an ordinary function +or/and lambdas:

+
std::string catType( Cat& ) { return "cat"; }
+auto visitor = AnimalVisitor::make(
+    catType,  // Cat is visited by an ordinary function
+    []( Dog& ) -> std::string { return "dog" }); // Dog is visited by a lambda
+// Note that you have to cover all cases, otherwise your program won't compile
+
+// Then we can use it like before
+hiddenCat->accept( visitor );
+std::cout << visitor.result << "\n";
+
+
+

This is not all, with Atoms, you can avoid the annoying “accept then result” +construction and visit object like function call:

+
std::cout << atoms::visit( hiddenCat, visitor) << "\n";
+// You can even define the visitor in place:
+std::cout << atoms::visit( hiddenCat,
+    []( Cat& cat ) { return "cat"; },
+    []( Dog& dog ) { return "dog"; } ) << "\n";
+
+
+

Bellow, you can find the references of the provided classes and functions:

+
+
+template<typename ...Hosts>
struct Visits : public atoms::detail::Visits<Hosts...>
+

Visitor type for given set of derived classes (Hosts).

+

Typical use case is using MyTypeVisitor = atoms::Visits< Derived1, Derived2 >

+

Subclassed by UniversalModuleJointVisitor

+
+

Public Static Functions

+
+
+template<typename ...Fs>
static inline auto make(Fs... fs)
+

Build a visitor out of collables (functors, free functions)

+

It expects that all callables have the same return value and each of the accepts exactly one overload of the base class.

+
+ +
+
+ +
+
+template<typename Self, typename Visitor>
struct VisitableBase
+

Make a base class visitable.

+

This is a CRTP class, inherit from it in your base class and pass the base class type and a base visitor type as template arguments. The base visitor type should be created as a using to Visits.

+

Typical use case class Base: public atoms::VisitableBase< Base, BaseVisitor > {};

+
+

Public Types

+
+
+using VisitorType = Visitor
+
+ +
+
+

Public Functions

+
+
+virtual ~VisitableBase() = default
+
+ +
+
+inline virtual void accept(VisitorType&)
+
+ +
+
+ +
+
+template<typename Base, typename Self>
struct Visitable : public Base
+

Implement visits interface in derived class.

+

This is a CRTP class, inherit from it in you class and pass base class and your derived class as the template arguments.

+

Typical use case class Derived: public Visitable< Base, Derived > {};

+
+

Public Functions

+
+
+template<typename ...Ts>
inline explicit Visitable(Ts&&... ts)
+
+ +
+
+inline void accept(typename Base::VisitorType &visitor) override
+
+ +
+
+ +
+
+template<typename Base, typename F, typename ...Fs>
struct Visitor : public atoms::detail::Visitor<Base, FunctionTraits<F>::returnType, F, Fs...>
+

This type takes a desired visitor type (created by templateing Visits), list of callables and produces a visitor out of the callable.

+

Prefer calling Visits::make() for creating instances as it automatically deduces all the types.

+
+

Public Types

+
+
+using ReturnType = typename FunctionTraits<F>::returnType
+
+ +
+
+using Successor = detail::Visitor<Base, ReturnType, F, Fs...>
+
+ +
+
+

Public Functions

+
+
+inline explicit Visitor(F f, Fs... fs)
+
+ +
+
+ +
+
+template<typename T, typename ...Fs>
auto atoms::visit(T &object, Fs... fs)
+

Visit given object by se of callables.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that all callables have the same return value and each of them accepts exactly one overload of T.

+
+ +
+
+template<typename T, typename Visitor>
auto atoms::visit(T &object, Visitor visitor) -> std::enable_if_t<std::is_base_of_v<typename T::VisitorType, Visitor>, typename Visitor::ReturnType>
+

Visit given object by a visitor.

+

Gives visiting the same interface as std::visits provides and removes the hassle of extracting the return value out of the visitor.

+

Expects that T inherits from atoms::VisitableBase.

+

Expects that Visitor::ReturnType and Visitor::result (in case of non-void return type) exists. Both of these are guaranteed if atoms::Visitor is used.

+
+ +
+
+

Cloneable Object Hiearchy & ValuePtr

+

Atoms provide means to simply implement cloneable virtual hiearchies. Consider +the following code:

+
class Animal {
+public:
+    virtual ~Animal() = default;
+};
+
+class Dog: public Animal {};
+class Cat: public Animal {};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy - how to do so? We don't know what is behind Animal.
+// The following attempt won't work:
+std::unique_ptr< Animal > ptrCopy( new Animal( *ptr.get() ) ); // Does not compile
+
+
+

To make the it work we can add a virtual clone method. This process can be +tedious, so Atoms provide several macros to easy the task. By the way, we use +macro-based approach over CRTP-based approach as we consider it more readable +and easier to maintain.

+
class Animal {
+public:
+    virtual ~Animal() = default;
+    ATOMS_CLONEABLE_BASE( Animal );
+};
+
+class Dog: public Animal {
+public:
+    ATOMS_CLONEABLE( Dog );
+};
+
+class Cat: public Animal {
+public:
+    ATOMS_CLONEABLE( Cat );
+};
+
+// Our code:
+std::unique_ptr< Animal > ptr( new Dog() );
+// Let's make a copy:
+std::unique_ptr< Animal > ptrCopy( ptr->clone() );
+
+
+

Sometimes, you need to store a such hierarchy in class which you want to make +copyable. With unique_ptr you have to manually define all the copy and move +constructors. This can be tedious, therefore, atoms provide +atoms::ValuePtr which stores objects on heap, but provides copy +semantics for them. It is somewhat similar to proposed std::polymorphic_value, +however, it does not feature small-buffer optimization to provide stable +references.

+
+
+template<typename T>
class ValuePtr
+

Store object on a heap (to allow virtual function calls and to provide stable address on move) and provide deep copies.

+

It requires that T provides T *clone() const. Use ATOMS_CLONEABLE_BASE and ATOMS_CLONEABLE for providing this method.

+
+

Public Functions

+
+
+ValuePtr() = default
+
+ +
+
+inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+inline explicit ValuePtr(const T &t)
+
+ +
+
+template<std::derived_from<T> Derived>
inline explicit ValuePtr(std::unique_ptr<T> ptr)
+
+ +
+
+ValuePtr(ValuePtr&&) noexcept = default
+
+ +
+
+ValuePtr &operator=(ValuePtr&&) noexcept = default
+
+ +
+
+inline ValuePtr clone() const
+
+ +
+
+inline void swap(ValuePtr &other) noexcept
+
+ +
+
+inline T &operator*() const noexcept
+
+ +
+
+inline T *operator->() const noexcept
+
+ +
+
+inline T *get() const noexcept
+
+ +
+
+inline explicit operator bool() const noexcept
+
+ +
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/atoms/resources.html b/rofilib/atoms/resources.html new file mode 100644 index 000000000..8835cdf09 --- /dev/null +++ b/rofilib/atoms/resources.html @@ -0,0 +1,234 @@ + + + + + + + Embedded Resources Management — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Embedded Resources Management

+

There are some APIs (e.g., VTK) which can load resources (models, textures) only +from files specified by a name, not by a file handle or memory location. This +APIs prevent embedding the resources into the binary. Embedding the resources +into binary makes it portable and install-location independent.

+

ResourceManager and ResourceFile help to create a +temporary file from a resource embedded in the binary, and therefore, provide a +file name for such resource.

+
+

Usage

+

To use an embedded resource you have to:

+
    +

  • embed the resource into the binary as a blob,

    • +

  • load it in the program,

    • +

  • get filename.

    • +
+

Embedding of the resources is handled by a CMake macro:

+
# resources can be an arbitrary, but unique name
+# multiple resource files are allowed
+add_resources(resources "resouceFile1.bmp" resourceFile2.obj")
+# Then you specify resources as one of the sources for you executable/library
+add_executable(myProject ${resources} main.cpp)
+
+
+

Then you can use the resource in your code:

+
// Slashes and dots in file names are replaced by an underscore
+// Note that the resource name is not string (it is a symbol actually)
+ResourceFile myResource = LOAD_RESOURCE_FILE( resouceFile1_bmp );
+// Call the api with file name:
+loadTexture( myResource.name() );
+
+
+
+
+

Classes reference

+
+
+class ResourceManager
+

Manager of embedded resources.

+

ResourceManager allows the user to register a resource and obtain a file name for it. The class is a singleton, obtain instance by calling ResourceManager::inst().

+

This class is usually not needed when working with resources specified via CMake macro. Look at ResourceFile and LOAD_RESOURCE_FILE instead.

+
+

Public Functions

+
+
+inline ~ResourceManager()
+
+ +
+
+inline std::filesystem::path add(const char *data, std::ptrdiff_t count)
+

Add a resource and obtain a valid file path for it.

+

If the resource on given address was already added, existing file is returned. The resource is specified by address and its size in bytes.

+
+ +
+
+

Public Static Functions

+
+
+static inline ResourceManager &inst()
+

Get an instance of the manager.

+
+ +
+
+ +
+
+class ResourceFile
+

Represents a single resource with na associated filename.

+

If you are using resources specified by the CMake macro, do not create instances of the class directly, but use macro LOAD_RESOURCE_FILE.

+
+

Public Functions

+
+
+inline ResourceFile(const char *start, const char *end)
+
+ +
+
+inline ResourceFile(const char *data, std::ptrdiff_t count)
+
+ +
+
+inline std::filesystem::path name() const
+

Get filename associated with given resource.

+
+ +
+
+ +
+
+

Macro reference

+
+
+LOAD_RESOURCE_FILE(x)
+

Obtain an instance of ResourceFile for given resource specified by the CMake macro.

+

Specify the resource name directly, without string quotes, and replace special symbols by and underscore. E.g., for resource test/file.bmp use test_file_bmp.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/atoms/result.html b/rofilib/atoms/result.html new file mode 100644 index 000000000..43a8b5a19 --- /dev/null +++ b/rofilib/atoms/result.html @@ -0,0 +1,1045 @@ + + + + + + + Result — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Result

+

Result provides a way to return a value or an error. +The concept is similar to Either +in Haskell or Result in Rust.

+
+

Usage

+

Use value, error, emplace_value and emplace_error to create new Result.

+
auto value42 = atoms::Result< int >::value( 22 );
+auto value0 = atoms::Result< int, std::runtime_error >::emplace_value();
+auto errStr = atoms::Result< double >::error( "string is default error type" );
+auto errExcept = atoms::Result< int, std::runtime_error >::emplace_error( "passed to constructor" );
+
+
+

When returning Result from a function, you can use helper creation functions.

+
atoms::Result< int > div( int lhs, int rhs ) {
+    if ( rhs == 0 ) {
+        return atoms::result_error< std::string >( "division by 0" );
+    }
+    return atoms::result_value( lhs / rhs );
+}
+
+
+

Use make_ helper creation function variants to pass arguments directly to constuctors.

+
atoms::Result< std::vector< double > > repeat( int count, double value ) {
+    if ( count < 0 ) {
+        return atoms::make_result_error< std::string >( "count is negative" );
+    }
+    return atoms::make_result_value( count, value );
+}
+
+
+

You can check if a Result contains a value and dereference the Result to get it.

+
auto result = atoms::Result< int >::value( 10 );
+
+if ( result ) { // or `result.has_value()`
+    std::cout << "Have result " << *result << "\n"; // or `result.assume_value()`
+} else {
+    std::cout << "Have error " << result.assume_error() << "\n";
+}
+
+
+

You can use monadic methods based on std::optional. +Note that when using monadic methods, the other type has to be copy/move constructible.

+
auto result = atoms::Result< int >::value( 10 );
+
+auto newResult = result.and_then( []( int value ){
+        return atoms::result_error( std::to_string( value ) );
+    } )
+    .or_else( []( const std::string & str ) {
+        return atoms::value( static_cast< int >( str.size() ) );
+    } )
+    .or_else( []() {
+        return atoms::value( 12 );
+    } )
+    .transform( []( int value ){
+        return static_cast< unsigned >( value + 2 );
+    } );
+
+// If you `std::move` the result, the content will be moved as well
+unsigned newValue = std::move( newResult ).transform_error( []( std::string str ){
+        return "Error: " + std::move( str );
+    } )
+    .value_or( []( std::string error ){
+        throw std::runtime_error( std::move( error ) );
+    } );
+
+
+

For matching on a result, you can use Result::match methods.

+
#include <atoms/util.hpp> // for `overloaded`
+
+// ...
+
+auto correctAnswer = atoms::Result< int >::value( 10 );
+
+correctAnswer.match( overloaded{
+    []( int value ) { std::cout << "Got answer " << value << "\n"; }
+    []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+// With compatible value and error types
+auto correctStrAnswer = atoms::Result< std::string, std::string >::value( "Apple" );
+
+/**
+ * Doesn't compile (compiler cannot deduce value/error from type)
+ * Also doesn't work on compatible types (e.g. int/unsigned) for the programmer's safety.
+ */
+// correctAnswer.match( overloaded{
+//     []( const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+//     []( const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+// } );
+
+correctAnswer.match( overloaded{
+    []( std::true_type, const std::string & value ) { std::cout << "Got answer " << value << "\n"; }
+    []( std::false_type, const std::string & error ) { std::cerr << "Got error: " << error << "\n"; }
+} );
+
+
+
+
+

Classes reference

+
+
+template<typename T, typename E = std::string>
class Result
+

A type that holds either a value or an error.

+

The usecase is similar to that of std::optional except it can hold additional info about the failure.

+

The Result class template is designed to be an almost drop-in replacement for std::optional except the construction.

+

The Result is similar to std::variant and should be treated as such. Specifically use std::monostate if T or E types don’t have a value.

+
+

Member types

+
+
+using value_type = T
+
+ +
+
+using error_type = E
+
+ +
+
+

Constructing static member functions

+
+
+static inline constexpr Result value(const value_type &val)
+

Constructs the contained value by the copy constructor.

+
+ +
+
+static inline constexpr Result value(value_type &&val)
+

Constructs the contained value by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_value(auto&&... args)
+

Constructs the contained value in-place.

+
+ +
+
+static inline constexpr Result error(const error_type &err)
+

Constructs the contained error by the copy constructor.

+
+ +
+
+static inline constexpr Result error(error_type &&err)
+

Constructs the contained error by the move constructor.

+
+ +
+
+static inline constexpr Result emplace_error(auto&&... args)
+

Constructs the contained error in-place.

+
+ +
+
+

Implicit conversions

+

Implicit conversions when one of types is detail::TypePlaceholder

+
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() const &
+

Changes the value_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ValueT>
inline constexpr operator Result<ValueT, error_type>() &&
+

Changes the value_type from detail::TypePlaceholder by moving.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() const &
+

Changes the error_type from detail::TypePlaceholder by copying.

+
+ +
+
+template<typename ErrorT>
inline constexpr operator Result<value_type, ErrorT>() &&
+

Changes the error_type from detail::TypePlaceholder by moving.

+
+ +
+
+

Observers

+
+
+inline constexpr bool has_value() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+inline constexpr operator bool() const noexcept
+

Checks whether this contains a value.

+
+
Return values
+
    +

  • true – if this contains a value.

    • +

  • false – if this contains an error.

    • +
+
+
+
+ +
+
+

Accessors

+
+
+inline constexpr value_type *operator->() noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type *operator->() const noexcept
+

Accesses the contained value.

+
+
Returns
+

Pointer to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &operator*() & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &operator*() const & noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&operator*() && noexcept
+

Accesses the contained value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &assume_value() & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr const value_type &assume_value() const & noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr value_type &&assume_value() && noexcept
+

Assume that the result contains a value.

+
+
Returns
+

Reference to the contained value.

+
+
+
+ +
+
+inline constexpr error_type &assume_error() & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr const error_type &assume_error() const & noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr error_type &&assume_error() && noexcept
+

Assume that the result contains an error.

+
+
Returns
+

Reference to the contained error.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() const & noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+inline constexpr Result<detail::TypePlaceholder, error_type> assume_error_result() && noexcept
+

Assume that the result contains an error.

+

Deletes the value_type so this can be converted to another Result.

+
+
Returns
+

Result containing error from this.

+
+
+
+ +
+
+

Get or throw operations

+
+
+inline constexpr value_type &get_or_throw() &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr const value_type &get_or_throw() const &
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+inline constexpr value_type &&get_or_throw() &&
+

Returns the contained value if it contains a value.

+

Otherwise, throws the contained error as an exception.

+
+
Throws
+

If – the result type contains an error throws exception of type error_type.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&> ExceptionT>
inline constexpr value_type &get_or_throw_as() &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<const error_type&> ExceptionT>
inline constexpr const value_type &get_or_throw_as() const &
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+template<std::constructible_from<error_type&&> ExceptionT>
inline constexpr value_type &&get_or_throw_as() &&
+

Returns the contained value if this contains a value.

+

Otherwise, throws the ExceptionT constructed from the error.

+
+
Template Parameters
+

ExceptionT – exception type constructable from value_type &

+
+
Throws
+

If – the result type contains an error throws exception of type ExceptionT.

+
+
Returns
+

The contained value or doesn’t return normally.

+
+
+
+ +
+
+

Monadic operations

+

Inspired by and designed to be compatible with monadic operations of std::optional from C++23.

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto and_then(F &&f) &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto and_then(F &&f) const &
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto and_then(F &&f) &&
+

Returns the result of invocation of f on the contained value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type must be a specialization of Result with the same error type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto or_else(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto or_else(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of invocation of f on the contained error.

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) const
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<> F>
inline constexpr auto or_else(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns the result of f .

+

The return type must be a specialization of Result with the same value type.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Transform operations

+
+
+template<std::invocable<value_type&> F>
inline constexpr auto transform(F &&f) &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<const value_type&> F>
inline constexpr auto transform(F &&f) const &
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<value_type&&> F>
inline constexpr auto transform(F &&f) &&
+

Returns Result with the result of invocation of f on the contained value as the new value if it exists.

+

Otherwise, returns the contained error in the return type.

+

The return type of f will be the value type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns the new value type

+
+
Returns
+

The result of f or the contained error.

+
+
+
+ +
+
+template<std::invocable<error_type&> F>
inline constexpr auto transform_error(F &&f) &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<const error_type&> F>
inline constexpr auto transform_error(F &&f) const &
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+template<std::invocable<error_type&&> F>
inline constexpr auto transform_error(F &&f) &&
+

Returns the contained value in the return type if it contains a value.

+

Otherwise, returns Result with the result of invocation of f on the contained error as the new error.

+

The return type of f will be the error type of the returned Result.

+
+
Parameters
+

f – a suitable function or Callable object that returns a Result

+
+
Returns
+

The contained value or the result of f .

+
+
+
+ +
+
+

Match operations

+
+
+template<detail::hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type & and with std::false_type, error_type & and has to have the same return type.

+

vis cannot be invocable just with value_type & or just with error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, const value_type & and with std::false_type, const error_type & and has to have the same return type.

+

vis cannot be invocable just with const value_type & or just with const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on std::true_type and the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on std::false_type and the contained error.

+

vis has to be invocable with std::true_type, value_type && and with std::false_type, error_type && and has to have the same return type.

+

vis cannot be invocable just with value_type && or just with error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&, error_type&> Vis>
inline constexpr auto match(Vis &&vis) &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type & and with error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type & or with std::false_type, error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<const value_type&, const error_type&> Vis>
inline constexpr auto match(Vis &&vis) const &
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with const value_type & and with const error_type & and has to have the same return type.

+

vis cannot be invocable with std::true_type, const value_type & or with std::false_type, const error_type &.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+template<detail::no_hint_match_visitor<value_type&&, error_type&&> Vis>
inline constexpr auto match(Vis &&vis) &&
+

Returns the result of invocation of vis on the contained value if it exists.

+

Otherwise, returns the result of invocation of vis on the contained error.

+

vis has to be invocable with value_type && and with error_type && and has to have the same return type.

+

vis cannot be invocable with std::true_type, value_type && or with std::false_type, error_type &&.

+
+
Parameters
+

vis – a suitable function or Callable object

+
+
Returns
+

The result of vis .

+
+
+
+ +
+
+

Comparison operator

+
+
+bool operator==(const Result &other) const = default
+

Checks equality of two results.

+
+
Parameters
+

other – result to check equality against

+
+
Returns
+

whether both this and other contain value and the values are equal or both contain error and the errors are equal.

+
+
+
+ +
+
+ +
+
+struct TypePlaceholder
+

Result value/error type placeholder.

+

Used as a type placeholder so the other type of result doesn’t have to be specified by the user.

+

The functionality of Result with TypePlaceholder is similar to std::nullopt_t.

+
+

Public Functions

+
+
+TypePlaceholder() = delete
+
+ +
+
+ +
+
+

Functions reference

+
+
+template<typename ValueT>
inline constexpr auto atoms::result_value(ValueT value) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result from value.

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

value – the value to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ValueT, typename ...Args>
inline constexpr auto atoms::make_result_value(Args&&... args) -> Result<ValueT, detail::TypePlaceholder>
+

Creates Result with value constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any error type.

+
+
Parameters
+

args – arguments to be passed to the constructor of value

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT>
inline constexpr auto atoms::result_error(ErrorT error) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result from error.

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

error – the error to construct the Result object with

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+template<typename ErrorT, typename ...Args>
inline constexpr auto atoms::make_result_error(Args&&... args) -> Result<detail::TypePlaceholder, ErrorT>
+

Creates Result with error constructed in-place from args… .

+

The created Result is implicitly convertible to Result with any value type.

+
+
Parameters
+

args – arguments to be passed to the constructor of error

+
+
Returns
+

the contructed Result object.

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/index.html b/rofilib/configurations/index.html new file mode 100644 index 000000000..0c4e21fbf --- /dev/null +++ b/rofilib/configurations/index.html @@ -0,0 +1,210 @@ + + + + + + + Configurations — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Configurations

+

Configuration is a way of representing a collection of RoFI Modules.

+

The go-to configuration is RoFI Configuration, which can represent +any collection of RoFI Modules in a universal manner.

+ +
+

Configuration Usage

+
+ +
+
+
+

Different Configurations

+
+ +
+
+
+

Serializations

+

Serializations provide a way to to save configurations +or to transfer them between programming languages.

+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/parsing_in_cpp.html b/rofilib/configurations/parsing_in_cpp.html new file mode 100644 index 000000000..d83b8a2f1 --- /dev/null +++ b/rofilib/configurations/parsing_in_cpp.html @@ -0,0 +1,456 @@ + + + + + + + Parsing Configurations in C++ — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Parsing Configurations in C++

+

When parsing configurations in C++ tools, the configurations get usually +converted into rofi::configuration::RofiWorld. +For this, tools can use the parsing function +rofi::parsing::parseRofiWorld() +or rofi::parsing::parseRofiWorldSeq().

+

For the other conversion, tools can use +rofi::parsing::writeRofiWorld() +or rofi::parsing::writeRofiWorldSeq().

+
+

Note

+

When parsing you may want to check whether the configuration is empty +or whether the configuration is fixed in space.

+

If you want to allow for not fixed configurations and be able to prepare +them (without regards to the real position), you can use +rofi::parsing::fixateRofiWorld().

+

Also don’t forget to validate the configuration if needed.

+
+
+

Helper Functions

+
+
+inline auto rofi::parsing::parseJson(std::istream &istr) -> atoms::Result<nlohmann::json>
+

Calls nlohmann::json::parse, but returns atoms::Result instead of throwing.

+

Returns an error if parsing throws an exception.

+
+
Parameters
+

istr – input stream

+
+
Returns
+

parsed json

+
+
+
+ +
+
+template<typename T>
auto rofi::parsing::getFromJson(const nlohmann::json &json) -> atoms::Result<T>
+

Calls nlohmann::json::get, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Template Parameters
+

T – value type to be returned

+
+
Parameters
+

json – input json

+
+
Returns
+

converted value

+
+
+
+ +
+
+

Helper RofiWorld Functions

+
+
+inline void rofi::parsing::fixateRofiWorld(rofi::configuration::RofiWorld &world)
+

Fixates given world in space using a RigidJoint between (0, 0, 0) and first body of first module.

+

Assumes the world modules is not empty.

+
+
Parameters
+

world – rofi world to be fixated in space

+
+
+
+ +
+
+inline auto rofi::parsing::toSharedAndValidate(rofi::configuration::RofiWorld rofiWorld) -> atoms::Result<std::shared_ptr<rofi::configuration::RofiWorld>>
+

Converts rofiWorld to std::shared_ptr and validates the world.

+

Returns an error if rofiWorld is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+

Note

+

Uses std::shared_ptr because moving rofi::configuration::RofiWorld unprepares it.

+
+
+
Parameters
+

rofiWorld – input rofi world

+
+
Returns
+

the validated rofiWorld inside a std::shared_ptr

+
+
+
+ +
+
+inline auto rofi::parsing::validateRofiWorldSeq(std::span<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::monostate>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::validatedRofiWorldSeq(std::vector<rofi::configuration::RofiWorld> rofiWorldSeq) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Validates rofi worlds in rofiWorldSeq .

+

Returns an error if any world in rofiWorldSeq is not valid.

+
+

Note

+

Expected use with atoms::Result::and_then.

+
+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

validated rofiWorldSeq

+
+
+
+ +
+
+

Conversion Functions

+
+
+inline auto rofi::parsing::getRofiWorldFromJson(const nlohmann::json &json) -> atoms::Result<rofi::configuration::RofiWorld>
+

Calls rofi::configuration::serialization::fromJSON, but returns atoms::Result instead of throwing.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::getRofiWorldSeqFromJson(const nlohmann::json &json) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts nlohmann::json to rofi world sequence.

+

Returns an error if converting throws an exception.

+
+
Parameters
+

json – input json

+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::convertRofiWorldSeqToJson(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq) -> nlohmann::json
+

Converts rofi world sequence to nlohmann::json.

+
+
Parameters
+

rofiWorldSeq – input rofi world sequence

+
+
Returns
+

converted json

+
+
+
+ +
+
+template<typename Callback, typename WorldT = std::invoke_result_t<Callback, const rofi::configuration::RofiWorld>::value_type>
auto rofi::parsing::convertFromRofiWorldSeq(std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, Callback convertCallback) -> atoms::Result<std::vector<WorldT>>
+

Converts rofiWorldSeq to a sequence of new worlds.

+

Uses convertCallback for conversion to WorldT . Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • rofiWorldSeq – input rofi world sequence

    • +

  • convertCallback – callback for converting rofi world to new world

    • +
+
+
Returns
+

converted sequence of new worlds

+
+
+
+ +
+
+template<typename WorldT, typename Callback>
auto rofi::parsing::convertToRofiWorldSeq(std::span<const WorldT> worldSeq, Callback convertCallback) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Converts worldSeq to a rofi world sequence.

+

Uses convertCallback for conversion to rofi world. Returns an error if any call to convertCallback fails including information about the position of the failed world.

+
+

Note

+

Behaves as transform and collect on atoms::Result and also includes info about which conversion failed.

+
+
+
Parameters
+
    +

  • worldSeq – input world sequence

    • +

  • convertCallback – callback for converting world to rofi world

    • +
+
+
Returns
+

converted rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::parseOldCfgFormat(std::istream &istr, bool fixate) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Assumes that the input is in old (Viki) format. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • fixate – whether to fixate the world after parsing

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+

Multi-Format Conversions

+
+
+enum class rofi::parsing::RofiWorldFormat
+

Values:

+
+
+enumerator Old
+
+ +
+
+enumerator Json
+
+ +
+
+enumerator Voxel
+
+ +
+ +
+
+inline auto rofi::parsing::parseRofiWorld(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<rofi::configuration::RofiWorld>
+

Parses rofi world from given istr .

+

Parses the input according to worldFormat . If the world is in old format, fixates the world. Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorld(std::ostream &ostr, const rofi::configuration::RofiWorld &rofiWorld, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world

    • +

  • worldFormat – format of input world

    • +
+
+
Returns
+

the parsed rofi world

+
+
+
+ +
+
+inline auto rofi::parsing::parseRofiWorldSeq(std::istream &istr, RofiWorldFormat worldFormat, bool fixateByOne = false) -> atoms::Result<std::vector<rofi::configuration::RofiWorld>>
+

Parses rofi world sequence from given istr .

+

Parses the input according to worldFormat . Returns an error if the format is incorrect.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+inline auto rofi::parsing::writeRofiWorldSeq(std::ostream &ostr, std::span<const rofi::configuration::RofiWorld> rofiWorldSeq, RofiWorldFormat worldFormat) -> atoms::Result<std::monostate>
+

Writes rofi world sequence to given ostr in the format specified by worldFormat .

+

Returns an error if the format is incorrect or if the old format is specified.

+
+
Parameters
+
    +

  • istr – input stream containing the rofi world sequence

    • +

  • worldFormat – format of input world sequence

    • +
+
+
Returns
+

the parsed rofi world sequence

+
+
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/rofiworld.html b/rofilib/configurations/rofiworld.html new file mode 100644 index 000000000..b0481f30c --- /dev/null +++ b/rofilib/configurations/rofiworld.html @@ -0,0 +1,1360 @@ + + + + + + + RoFI Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFI Configuration

+

Configuration is a way of representing any collection of RoFI Modules +in an universal manner. +It contains all building blocks of the RoFI platform such as various modules +and joints.

+

Using these blocks, you can specify every RoFI world – a set of rofibots +(connected set of RoFI modules fixed in space) – and work with it. +Configuration computes positions of every component and provides +useful functions for manipulation with the whole world, including +some validity checks (e.g. collision checks).

+ +
+

Usage

+

The main class is RofiWorld +for which you create an instance +and add all the modules you want to have in the world. +You have to connect these modules together appropriately +to form individual rofibots. +If you want to use absolute positions, you have to fix +one of the components of each rofibot in space, +otherwise, the configuration cannot figure out its coordinates.

+
+
+

Example

+

Let us create a world with a single bot consisted of two universal modules.

+
#include <configuration/rofiworld.hpp>
+
+// ...
+
+RofiWorld world;
+// add universal module with id 42 in the default state
+auto& m1 = world.insert( UniversalModule( 42, 0_deg, 0_deg, 0_deg ) );
+// add universal module with id 42 with beta set to 45 degrees and gamma to 90 degrees
+auto& m2 = world.insert( UniversalModule( 66, 0_deg, 45_deg, 90_deg ) );
+
+// connect A+X of the universal module with id = 42 to A-X of UM with id = 66
+connect( m1.connectors()[ 2 ], m2.connectors()[ 0 ], Orientation::North );
+// fix the position of the `shoe A` in { 0, 0, 0 }
+connect< RigidJoint >( m1.bodies()[ 0 ], { 0, 0, 0 }, identity );
+
+
+

With the world in hand, you can then prepare it (i.e. compute positions of each +part – rofibot – of the world) and check for its validity.

+
if ( auto prepared = world.prepare(); !prepared )
+    std::cerr << "Could not prepare configuration: " << prepared.assume_error() << "\n";
+if ( auto valid = world.isValid( SimpleCollision() ); !valid )
+    std::cerr << "Invalid configuration: " << valid.assume_error() << "\n";
+
+// or you can shorten the above to
+auto ok = world.validate( SimpleCollision() );
+
+// also, the SimpleCollision model is the default one, so you can ommit it too and get
+auto ok = world.validate();
+
+
+
+
+

Types and Constants

+
+
+using rofi::configuration::ModuleId = int
+

ModuleId.

+
+ +
+
+enum class rofi::configuration::ComponentType
+

Values:

+
+
+enumerator Roficom
+
+ +
+
+enumerator UmBody
+
+ +
+
+enumerator UmShoe
+
+ +
+
+enumerator CubeBody
+
+ +
+ +
+
+enum class rofi::configuration::ModuleType
+

Values:

+
+
+enumerator Unknown
+
+ +
+
+enumerator Universal
+
+ +
+
+enumerator Pad
+
+ +
+
+enumerator Cube
+
+ +
+ +
+
+enum class rofi::configuration::roficom::Orientation
+

Values:

+
+
+enumerator North
+
+ +
+
+enumerator East
+
+ +
+
+enumerator South
+
+ +
+
+enumerator West
+
+ +
+ +
+
+

Classes

+
+
+class RofiWorld
+

RoFI world.

+

The RofiWorld is composed out of modules.

+
+

Public Types

+
+
+using ModuleInfoHandle = atoms::HandleSet<ModuleInfo>::handle_type
+
+ +
+
+using RoficomJointHandle = atoms::HandleSet<RoficomJoint>::handle_type
+
+ +
+
+using SpaceJointHandle = atoms::HandleSet<SpaceJoint>::handle_type
+
+ +
+
+

Public Functions

+
+
+RofiWorld() = default
+
+ +
+
+inline RofiWorld(const RofiWorld &other)
+
+ +
+
+inline RofiWorld(RofiWorld &&other)
+
+ +
+
+inline RofiWorld &operator=(RofiWorld other)
+
+ +
+
+inline void swap(RofiWorld &other)
+
+ +
+
+inline Module &insert(const Module &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Throws
+

std::logic_error – if module with the same ID is already present

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+template<std::derived_from<Module> ModuleT>
inline ModuleT &insert(const ModuleT &m)
+

Insert a module from the RofiWorld

+

The module position is not specified. You should connect the module to other modules via connect(). The module is assigned a unique id within the world.

+
+
Returns
+

reference to the newly created module.

+
+
+
+ +
+
+inline Module *getModule(ModuleId id) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline Module *getModule(ModuleInfoHandle h) const
+

Get pointer to module with given id within the RofiWorld.

+
+ +
+
+inline auto modules() const -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modules() -> std::ranges::range auto
+

Get a range of modules.

+
+ +
+
+inline auto modulesWithAbsPos() const -> std::ranges::range auto
+

Get a range of modules with their absolute positions.

+

this has to be prepared.

+
+ +
+
+inline const auto &roficomConnections() const
+

Get a container of RoficomJoint.

+
+ +
+
+inline const auto &referencePoints() const
+
+ +
+
+inline void remove(ModuleId id)
+

Remove a module from the RofiWorld.

+
+ +
+
+inline bool isPrepared() const
+

Return true if the configuration is prepared.

+

Configuration can be prepared with prepare.

+
+ +
+
+inline atoms::Result<std::monostate> isValid(const Collision &collisionModel = SimpleCollision()) const
+

Decide whether the configuration is valid given the collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+inline atoms::Result<std::monostate> validate(const Collision &collisionModel = SimpleCollision())
+

Prepare configuration if needed and decide whether it is valid with given collision model.

+
+
Returns
+

result - the error gives textual description of the reason for invalidity

+
+
+
+ +
+
+atoms::Result<std::monostate> prepare()
+

Precompute position of all the modules in the configuration.

+
+
Returns
+

result error if the configuration is inconsistent

+
+
+
+ +
+
+void setSpaceJointPositions(SpaceJointHandle jointId, std::span<const float> p)
+

Set position of a space joints specified by its id.

+
+ +
+
+inline Matrix getModulePosition(ModuleId id)
+

Get position of a module specified by its id.

+
+
Throws
+

std::logic_error – if configuration is inconsistent or module with given ID doesn’t exist

+
+
+
+ +
+
+inline Matrix getModulePosition(ModuleId id) const
+
+ +
+
+void disconnect(RoficomJointHandle h)
+
+ +
+
+void disconnect(SpaceJointHandle h)
+
+ +
+
+ +
+
+class Module
+

RoFI module.

+

The module is composed out of components.

+

Subclassed by rofi::configuration::Cube, rofi::configuration::Pad, rofi::configuration::UniversalModule, rofi::configuration::UnknownModule

+
+

Public Functions

+
+
+inline Module(ModuleType type, std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+

Construct module.

+

Note that components contain all module components out of which first connectorCount are module connectors.

+

The user can optionally specify a root component (e.g, in case of cyclic joints). If no root component is specified, component with no ingoing joints is selected.

+
+ +
+
+ATOMS_CLONEABLE_BASE(Module)
+
+ +
+
+virtual ~Module() = default
+
+ +
+
+inline ModuleId getId() const
+
+ +
+
+bool setId(ModuleId newId)
+

Set ID of the module to the new value.

+

Checks if the new value is not used within its world, in which case the ID is changed to the new value. Otherwise the ID is left the same.

+
+
Returns
+

whether the value was changed

+
+
+
+ +
+
+void setJointPositions(int idx, std::span<const float> p)
+
+ +
+
+atoms::Result<std::monostate> changeJointPositionsBy(int idx, std::span<float> diff)
+

Changes parameters of joint positions by values in <diff>.

+

Assumes <idx> is at most index of last joint in joint container. Assumes <diff> contains as many values as joint has parameters. If values from <diff> added to values of current parameters are not bounded by pairs of values in joint limits, function does not change the positions and does not clear component positions (configuration is still prepared).

+
+
Parameters
+
    +

  • idx – Joint index

    • +

  • diff – Span of values to be added to current parameters (can be negative).

    • +
+
+
Returns
+

result_error if any of the resulting parameters does not respect corresponding joint limit.

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx)
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are inconsistent

+
+
+
+ +
+
+inline Matrix getComponentRelativePosition(int idx) const
+

Get a component position relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+void clearComponentPositions()
+
+ +
+
+inline std::vector<Matrix> getOccupiedRelativePositions() const
+

Get a vector of occupied positions relative to module origin.

+
+
Throws
+

std::logic_error – if the components are not prepared

+
+
+
+ +
+
+inline atoms::Result<std::monostate> prepare()
+

Precompute component relative positions.

+
+
Returns
+

result error if the components are inconsistent

+
+
+
+ +
+
+inline auto configurableJoints()
+
+ +
+
+inline auto configurableJoints() const
+
+ +
+
+inline std::span<const Component> components() const
+

Get read-only view of the components.

+
+ +
+
+inline std::span<Component> components()
+
+ +
+
+inline std::span<const Component> bodies() const
+

Get read-only view of the bodies.

+
+ +
+
+inline std::span<Component> bodies()
+
+ +
+
+inline std::span<const ComponentJoint> joints() const
+
+ +
+
+inline std::span<const Component> connectors() const
+

Get read-only view of the connectors.

+
+ +
+
+inline std::span<Component> connectors()
+
+ +
+
+inline int componentIdx(const Component &c) const
+

Get index of a component.

+
+
Throws
+

std::logic_error – if the component doesn’t belong to the module

+
+
Returns
+

index of the first equal component

+
+
+
+ +
+
+

Public Members

+
+
+ModuleType type
+

module type

+
+ +
+
+RofiWorld *parent
+

pointer to parenting RofiWorld

+
+ +
+
+ +
+
+struct Component
+

Single body of a module.

+
+

Public Types

+
+
+using JointId = int
+
+ +
+
+

Public Functions

+
+
+inline Component(ComponentType type, std::vector<JointId> inJoints, std::vector<JointId> outJoints, Module *parent = nullptr)
+
+ +
+
+inline explicit Component(ComponentType type)
+
+ +
+
+bool operator==(const Component &o) const = default
+
+ +
+
+int getIndexInParent() const
+

Get the index of component in parent.

+
+ +
+
+Matrix getPosition() const
+

Get the absolute component position.

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
+
+ +
+
+std::optional<std::pair<const Component&, roficom::Orientation>> getNearConnector() const
+

Find a connector of another module in the same RofiWorld.

+

that can be connected to

+
+
Throws
+

std::logic_error – if the world is not prepared

+
+
Returns
+

the connector and orientation

+
+
Returns
+

nullopt if no such connector exists

+
+
+
+ +
+
+

Public Members

+
+
+ComponentType type
+
+ +
+
+std::vector<JointId> inJoints
+
+ +
+
+std::vector<JointId> outJoints
+
+ +
+
+Module *parent = nullptr
+
+ +
+
+ +
+
+struct Joint : public atoms::VisitableBase<Joint, JointVisitor>
+

Joint between two coordinate systems.

+

Joints represents a parametric description of positional relationship between two coordinate systems (e.g., component origins). This class in abstract. See below for concrete instances.

+

Each joint has Joint::paramCount() parameters (real value), which are stored in Joint::position. These params are, e.g., angle for rotation joint.

+

Subclassed by rofi::configuration::RoficomJoint

+
+

Public Functions

+
+
+inline explicit Joint(std::vector<std::pair<float, float>> jointLimits)
+
+ +
+
+virtual ~Joint() = default
+
+ +
+
+ATOMS_CLONEABLE_BASE(Joint)
+
+ +
+
+inline std::span<const std::pair<float, float>> jointLimits() const
+
+ +
+
+inline std::span<const float> positions() const
+
+ +
+
+inline virtual void setPositions(std::span<const float> pos)
+

Sets joint settings to corresponding values given by <pos>.

+

Assumes there are exactly as many values as there are joint settings.

+
+
Throws
+

std::logic_error – if the given settings do not respect joint limits.

+
+
+
+ +
+
+inline virtual atoms::Result<std::monostate> changePositionsBy(std::span<const float> diff)
+

Changes each joint setting by the corresponding value in <diff>.

+

Assumes there are exactly as many values given as there are joint settings.

+
+
Returns
+

result error if the resulting values do not respect joint limits.

+
+
+
+ +
+
+virtual Matrix sourceToDest() const = 0
+
+ +
+
+inline virtual Matrix destToSource() const
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RigidJoint : public atoms::Visitable<Joint, RigidJoint>
+
+

Public Functions

+
+
+inline RigidJoint(const Matrix &sToDest)
+

Construct a rigid joint based on transformation between source and dest.

+

Example usage: RigidJoint( rotate( M_PI/2, { 1, 0, 0, 1 } ) * translate( { 20, 0, 0 } ) )

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+ATOMS_CLONEABLE(RigidJoint)
+
+ +
+
+ +
+
+struct RotationJoint : public atoms::Visitable<Joint, RotationJoint>
+
+

Public Functions

+
+
+inline RotationJoint(Vector sourceOrigin, Vector sourceAxis, Vector destOrigin, Vector desAxis, Angle min, Angle max)
+

Construct rotation joint by specifing the same axis and origin point in source coordinate system and destination coordinate system.

+
+ +
+
+inline RotationJoint(Matrix pre, Vector axis, Matrix post, Angle min, Angle max)
+

Construct rotation joint by specifying transformation before rotation, followed by rotation axis with origin in (0, 0, 0), followed by another transformation.

+
+ +
+
+inline Matrix sourceToDest() const override
+
+ +
+
+inline Matrix destToSource() const override
+
+ +
+
+inline Angle position() const
+
+ +
+
+inline void setPosition(Angle pos)
+
+ +
+
+inline std::pair<Angle, Angle> jointLimit() const
+
+ +
+
+inline const Matrix pre() const
+
+ +
+
+inline const Matrix post() const
+
+ +
+
+inline const Vector axis() const
+
+ +
+
+ATOMS_CLONEABLE(RotationJoint)
+
+ +
+
+

Friends

+
+
+friend std::ostream &operator<<(std::ostream &out, Joint &j)
+

Provides human readable text description of the joint.

+
+ +
+
+ +
+
+struct RoficomJoint : public rofi::configuration::Joint
+

Joint between two modules.

+

The joint is created between two components of two modules specified by module ids and corresponding component index.

+
+

Public Functions

+
+
+inline RoficomJoint(roficom::Orientation o, RofiWorld::ModuleInfoHandle sourceModule, RofiWorld::ModuleInfoHandle destModule, int sourceConnector, int destConnector)
+
+ +
+
+inline virtual Matrix sourceToDest() const override
+
+ +
+
+ATOMS_CLONEABLE(RoficomJoint)
+
+ +
+
+inline Module &getSourceModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getSourceModule(const RofiWorld &world) const
+
+ +
+
+inline Module &getDestModule(RofiWorld &world) const
+
+ +
+
+inline const Module &getDestModule(const RofiWorld &world) const
+
+ +
+
+

Public Members

+
+
+roficom::Orientation orientation
+
+ +
+
+RofiWorld::ModuleInfoHandle sourceModule
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int sourceConnector
+
+ +
+
+int destConnector
+
+ +
+
+ +
+
+struct ComponentJoint
+

Joint between two components of the same module.

+
+

Public Functions

+
+
+inline ComponentJoint(atoms::ValuePtr<Joint> joint, int source, int dest)
+
+ +
+
+ComponentJoint(ComponentJoint&&) = default
+
+ +
+
+ComponentJoint &operator=(ComponentJoint&&) = default
+
+ +
+
+inline ComponentJoint(const ComponentJoint &o)
+
+ +
+
+inline ComponentJoint &operator=(const ComponentJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+int sourceComponent
+
+ +
+
+int destinationComponent
+
+ +
+
+ +
+
+struct SpaceJoint
+

Joint between a fixed point in space and a module.

+
+

Public Functions

+
+
+inline SpaceJoint(atoms::ValuePtr<Joint> joint, Vector refPoint, RofiWorld::ModuleInfoHandle destModule, int destComponent)
+
+ +
+
+SpaceJoint(SpaceJoint&&) = default
+
+ +
+
+SpaceJoint &operator=(SpaceJoint&&) = default
+
+ +
+
+inline SpaceJoint(const SpaceJoint &o)
+
+ +
+
+inline SpaceJoint &operator=(const SpaceJoint &o)
+
+ +
+
+

Public Members

+
+
+atoms::ValuePtr<Joint> joint
+
+ +
+
+Vector refPoint
+
+ +
+
+RofiWorld::ModuleInfoHandle destModule
+
+ +
+
+int destComponent
+
+ +
+
+ +
+
+class NoCollision : public rofi::configuration::Collision
+

Completely ignores any collisions.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module&, const Module&, Matrix, Matrix) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+class SimpleCollision : public rofi::configuration::Collision
+

Each module component takes up a unit sphere of space.

+
+

Public Functions

+
+
+inline virtual bool operator()(const Module &a, const Module &b, Matrix posA, Matrix posB) const
+

Decide if two modules collide.

+
+ +
+
+ +
+
+

Module Classes

+
+
+class UniversalModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+ATOMS_CLONEABLE(UniversalModule)
+
+ +
+
+inline explicit UniversalModule(int id)
+
+ +
+
+inline UniversalModule(int id, Angle a, Angle b, Angle g)
+
+ +
+
+inline Angle getAlpha() const
+
+ +
+
+inline Angle getBeta() const
+
+ +
+
+inline Angle getGamma() const
+
+ +
+
+inline void setAlpha(Angle a)
+
+ +
+
+inline void setBeta(Angle a)
+
+ +
+
+inline void setGamma(Angle a)
+
+ +
+
+inline Component getBodyA()
+
+ +
+
+inline const Component getBodyA() const
+
+ +
+
+inline Component getBodyB()
+
+ +
+
+inline const Component getBodyB() const
+
+ +
+
+inline const auto &getConnector(std::string_view cStr) const
+
+ +
+
+

Public Static Functions

+
+
+static int translateComponent(std::string_view cStr)
+
+ +
+
+static std::string_view translateComponent(int c)
+
+ +
+
+ +
+
+class Pad : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline Pad(ModuleId id, int width, int height)
+
+ +
+
+inline explicit Pad(ModuleId id, int size)
+
+ +
+
+ATOMS_CLONEABLE(Pad)
+
+ +
+
+

Public Members

+
+
+const int width = 0
+
+ +
+
+const int height = 0
+
+ +
+
+ +
+
+class UnknownModule : public rofi::configuration::Module
+
+

Public Functions

+
+
+inline UnknownModule(std::vector<Component> components, int connectorCount, std::vector<ComponentJoint> joints, ModuleId id, std::optional<int> rootComponent = std::nullopt)
+
+ +
+
+ATOMS_CLONEABLE(UnknownModule)
+
+ +
+
+ +
+
+

Functions

+
+
+RofiWorld::RoficomJointHandle rofi::configuration::connect(const Component &c1, const Component &c2, roficom::Orientation o)
+

Connect two modules via connector.

+
+
Throws
+

std::logic_error – if components don’t belong to the same configuration

+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
RofiWorld::SpaceJointHandle rofi::configuration::connect(const Component &c, Vector refpoint, Args&&... args)
+

Connect a module’s component to a point in space via given joint type.

+
+
Template Parameters
+

JointT – connection joint type

+
+
Parameters
+
    +

  • c – component to connect

    • +

  • refpoint – reference point in space

    • +

  • args – arguments to forward to JointT creation

    • +
+
+
Returns
+

handle to the connection joint

+
+
+
+ +
+
+template<typename JointT, typename ...Args>
ComponentJoint rofi::configuration::makeComponentJoint(int source, int dest, Args&&... args)
+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/serializations/json.html b/rofilib/configurations/serializations/json.html new file mode 100644 index 000000000..6db3d7282 --- /dev/null +++ b/rofilib/configurations/serializations/json.html @@ -0,0 +1,362 @@ + + + + + + + Json Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Json Serialization

+

Configuration also supports serialization to and from json +format via functions toJSON +and fromJSON respectively, +so that you can save your configuration into a file and load it as needed. +For the json itself we use nlohman::json library.

+ +
+

Format Description

+

The configuration description consists of three main parts: modules, +moduleJoints, and spaceJoints.

+

The minimal configuration looks like this.

+
#include <configuration/serialization.hpp>
+
+// the json library supports string literals
+auto js = "{ \"modules\" : [], \"spaceJoints\" : [], \"moduleJoints\" : [] }"_json;
+RofiWorld world = fromJSON( js );
+// and we can continue as before
+
+
+

If we were to represent the configuration with two universal modules shown +above, we could do it with this json

+
{
+    "modules" : [
+        {
+            "id" : 42,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 0,
+            "gamma" : 0
+        },
+        {
+            "id" : 66,
+            "type" : "universal",
+            "alpha" : 0,
+            "beta"  : 45,
+            "gamma" : 90
+        }
+    ],
+
+    "moduleJoints" : [
+        {
+            "orientation" : "East",
+            "from" : { "id" : 66, "connector" : "A+X" },
+            "to" :   { "id" : 42, "connector" : "A-X" }
+        }
+    ],
+
+    "spaceJoints" : [
+        {
+            "point" : [ 0, 0, 0 ],
+            "to" : {
+                     "id" : 42,
+                     "component" : 6
+            },
+            "joint" : {
+                        "type" : "rigid",
+                        "sourceToDestination" : [ [1, 0, 0, 0]
+                                                , [0, 1, 0, 0]
+                                                , [0, 0, 1, 0]
+                                                , [0, 0, 0, 1] ]
+                    }
+        }
+    ]
+}
+
+
+

You are not limited to universal modules only, currently we support a module +Pad representing a 5x4 pad of RoFICoMs which can be represented as

+
{
+    "id" : 66,
+    "type"   : "pad",
+    "width"  : 5,
+    "height" : 4
+}
+
+
+

and there is also a representation of an arbitrary module corresponding to +the UnknownModule. Its attributes mirror the class

+
{
+    "id" : 66,
+    "components" : [ < array of components > ],
+    "joints"     : [ < array of joints >     ]
+}
+
+
+

where the component has three possible values

+
[
+    {
+        "type" : "roficom"
+    },
+    {
+        "type" : "UM shoe"
+    },
+    {
+        "type" : "UM body"
+    }
+]
+
+
+

and joint is represented as

+
{
+    "from" : < component >,
+    "destination" : < component >,
+    "sourceToDestination" : < matrix >,
+    "joint" : < joint >
+}
+
+
+

where possible values of the joint are either RigidJoint represented as

+
{
+    "type" : "rigid"
+}
+
+
+

or the RotationJoint which requires appropriate matrices

+
{
+    "type" : "rotational",
+    "axis" : < 4-dimensional array >,
+    "preMatrix"  : < matrix >,
+    "postMatrix" : < matrix >,
+    "min" : < lower-limit - number >,
+    "max" : < upper-limit - number >
+}
+
+
+

Matrices are, as shown above, represented by 4x4 dimensional array. Or, for +the identity matrix, you can use a string representation, just write “identity” +instead of [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]].

+
+
+

Functions

+
+
+inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world)
+
+ +
+
+template<typename Callback>
inline nlohmann::json rofi::configuration::serialization::toJSON(const RofiWorld &world, Callback attrCb)
+

Serialize given RofiWorld to json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a module gets: const reference to the Module itself

    • +

  • callback for a joint gets: const reference to the Joint itself and its index within the module

    • +

  • callback for a component gets: const reference to the Component or ComponentJoint and its index

    • +

  • callback for a SpaceJoint or a RoficomJoint gets a const reference to the appropriate joint

    • +
+

+
+
Parameters
+

attrCb – a suitable function or Callable object that returns a nlohmann::json which is then stored into appropriate "attributes" field

+
+
+
+ +

The callback is optional. It provides you with the ability to extend the json representation with +an “attributes” property, which can be added to any object within the json. It can contain some +metadata you might use when working with and sharing the configuration description. For details, see +the section below.

+
+
+inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j)
+
+ +
+
+template<typename Callback>
inline RofiWorld rofi::configuration::serialization::fromJSON(const nlohmann::json &j, Callback attrCb)
+

Load a RofiWorld from given json.

+

+Callback for attributes has to cover all of these possible arguments:

+

    +

  • callback for a Module gets: const reference for the json[ “attributes” ] and const reference to the Module itself

    • +

  • callback for a Joint gets: const reference for the json[ “attributes” ] and const reference to the Joint itself and its index within the module

    • +

  • callback for a Component and ComponentJoint gets: const reference for the json[ “attributes” ] and a const reference to the Component itself and its index within the module

    • +

  • callback for a SpaceJoint or a RoficomJoint gets: const reference for the json[ “attributes” ] and a handle for given connection

    • +
+

+
+
Parameters
+
    +

  • j – json with a RofiWorld

    • +

  • attrCb – a suitable function or Callable object that process appropriate "attributes" fields

    • +
+
+
+
+ +

Here you can provide a callback function, that is used for parsing the optional “attributes” field. If no +callback is provided, the field, if present, is ignored. The callback is written in the same way as for toJSON.

+
+
+

Attributes callback

+

You can extend the json description of a configuration with “attributes” field. This field can be present +in any object within the configuration, so the callback function has to be able to accept every corresponding +type. The possible callback for toJSON that stores a ModuleId to “attributes” looks like

+
overload{ []( const Module& m ) { return nlohmann::json( m.getId() ); },
+          []( const ComponentJoint&, int jointIndex ) { return nlohmann::json{}; },
+          []( const Component&, int componentIndex  ) { return nlohmann::json{}; },
+          []( const RoficomJoint& ) { return nlohmann::json{}; },
+          []( const SpaceJoint&   ) { return nlohmann::json{}; }
+};
+
+
+

You can see that every function returns a nlohman::json which is then +stored to appropriate “attributes” field.

+

To collect these attributes you can then use this callback

+
std::vector< ModuleId > ids;
+
+overload{ [ &ids ]( const nlohmann::json& j, const Module& m ) {
+                    ids.push_back( j );
+          },
+          []( const nlohmann::json&, const ComponentJoint&, int jointIndex )  { return; },
+          []( const nlohmann::json&, const Component&, int componentIndex  )  { return; },
+          []( const nlohmann::json&, RofiWorld::RoficomJointHandle ) { return; },
+          []( const nlohmann::json&, RofiWorld::SpaceJointHandle )   { return; },
+};
+
+
+

See, that the main difference is in the arguments – callback given to fromJSON takes a json that +is the content of the respective “attributes” field.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/serializations/voxel.html b/rofilib/configurations/serializations/voxel.html new file mode 100644 index 000000000..d2b5ee878 --- /dev/null +++ b/rofilib/configurations/serializations/voxel.html @@ -0,0 +1,157 @@ + + + + + + + Voxel Serialization — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Serialization

+

Voxel configuration has its own serialization format based on +json. +rofi::voxel::VoxelWorld is implicitly convertible +to and from nlohman::json.

+
+

Json Grammar

+
{
+    "bodies" : [
+        < array of voxels >
+    ]
+}
+
+
+

where voxel is

+
{
+    "body_dir": {
+        "axis": < "X" | "Y" | "Z" >,
+        "is_positive": < true | false >
+    },
+    "joint_pos": < 0 | 90 | -90 >,
+    "pos": [ < array of 3 integers > ],
+    "shoe_rotated": < true | false >
+}
+
+
+

Voxel world is valid if there exists a connected RoFI world +that is represented by the voxel world.

+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/tooling_usage.html b/rofilib/configurations/tooling_usage.html new file mode 100644 index 000000000..ec4724dee --- /dev/null +++ b/rofilib/configurations/tooling_usage.html @@ -0,0 +1,166 @@ + + + + + + + Flags for Configurations in Tools — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Flags for Configurations in Tools

+
    +
  • +
    -f VALUE or –format VALUE

    Specifies the format of the configuration file.

    +
    +

    See also

    +

    See rofi::parsing::RofiWorldFormat +for all possible configuration formats +(not all formats have to be supported).

    +
    +
    +
    +
    • +
  • +
    –seq or –sequence

    If specified, the configuration file will be treated as it contains +a sequence of configurations.

    +

    For Json formats this means a Json array of configurations.

    +
    +
    +
    • +
  • +
    -b or –by-one
    +

    Note

    +

    This flag is only applicable for voxel format.

    +
    +

    Specifies whether to fixate each module to the world separately +instead of connecting the modules together.

    +

    This can be useful when e.g. visualizing +rofi::voxel::VoxelWorld that is not connected.

    +
    +

    See also

    +

    The flag corresponds to the fixateModulesByOne parameter +of rofi::voxel::VoxelWorld::toRofiWorld().

    +
    +
    +
    +
    • +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/configurations/voxel.html b/rofilib/configurations/voxel.html new file mode 100644 index 000000000..9485ac064 --- /dev/null +++ b/rofilib/configurations/voxel.html @@ -0,0 +1,477 @@ + + + + + + + Voxel Configuration — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Voxel Configuration

+
+

See also

+

The Voxel configuration is mainly developed in +Rust +and as such has its own documentation.

+
+

Voxel configuration tries to minimize +the information needed to represent a world with RoFI modules.

+

For this reason there are some limitations in expresivity of Voxel +configuration, which allows for a more space efficient representation +and for more efficient algorithms when using this representation:

+
+
    +

  • All modules have to be a Universal module.

    • +

  • All joint values have to be a multiple of 90 degrees.

    • +

  • Modules are not distinguishable.

    • +

  • Shoes of modules and rotations are not distinguishable +if they can be mapped to each other.

    • +

  • The configuration is not fixed in space.

    • +
+
+

These limitations imply that symmetries are baked into the representation.

+ +
+

Note

+

The name Voxel +comes from the original idea representing the world as a 3D grid +of values that are either empty or contain a shoe of a RoFI module.

+

Since then the representation of the voxel world has shifted and +it is no longer stored as a 3D vector of values, but the meaning +and name Voxel stayed the same.

+
+
+

Explicit Connections

+

Voxel world allows specifying explicit connections, +but this is not yet reflected in cpp code.

+
+
+

Voxel Configuration in Cpp

+

The class representing Voxel configuration in cpp +is rofi::voxel::VoxelWorld. +rofi::voxel::VoxelWorld can be easily converted to and from +rofi::configuration::RofiWorld +by rofi::voxel::VoxelWorld::toRofiWorld() +and rofi::voxel::VoxelWorld::fromRofiWorld() respectively.

+
+

Note

+

When converting from rofi::voxel::VoxelWorld +to rofi::configuration::RofiWorld, +rofi::voxel::VoxelWorld::toRofiWorld() expects +that the rofi::voxel::VoxelWorld is connected.

+

If you want to convert rofi::voxel::VoxelWorld that +isn’t connected, you can set parameter fixateModulesByOne.

+
+
+

Types, Constants and Support Classes

+
+
+using rofi::voxel::Position = std::array<int, 3>
+
+ +
+
+enum class rofi::voxel::Axis : int
+

Values:

+
+
+enumerator X
+
+ +
+
+enumerator Y
+
+ +
+
+enumerator Z
+
+ +
+ +
+
+enum class rofi::voxel::JointPosition
+

Values:

+
+
+enumerator Zero
+
+ +
+
+enumerator Plus90
+
+ +
+
+enumerator Minus90
+
+ +
+ +
+
+struct Direction
+
+

Public Functions

+
+
+inline auto movePosition(Position position) const -> Position
+
+ +
+
+inline auto opposite() const -> Direction
+
+ +
+
+auto operator<=>(const Direction&) const = default
+
+ +
+
+

Public Members

+
+
+Axis axis = {}
+
+ +
+
+bool is_positive = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromVector(const std::array<int, 3> &direction) -> std::optional<Direction>
+
+ +
+
+static inline auto fromVector(const rofi::configuration::matrices::Vector &direction) -> std::optional<Direction>
+
+ +
+
+ +
+
+

Classes

+
+
+struct Voxel
+

This documentation is copy from Rust voxel::Voxel

+

Canonized representation:

    +

  • when body_dir.is_dir_to_plus is true, the Voxel is assumed a BodyA otherwise it’s assumed BodyB

    • +

  • when shoe_rotated is false, X-connectors are in the next axis

      +

    • body_dir.axis is Axis::X => X-connectors are in Y axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in X axis otherwise X-connectors are in the previous axis

      • +

    • body_dir.axis is Axis::X => X-connectors are in Z axis

      • +

    • body_dir.axis is Axis::Y => X-connectors are in X axis

      • +

    • body_dir.axis is Axis::Z => X-connectors are in Y axis

      • +
    +

    • +

  • when joint_pos is Zero, the shoe joint is in the zero position when joint_pos is Plus90 the Z-connector is towards the plus axis otherwise the Z-connector is towards the minus axis

    • +
+

+
+

Public Functions

+
+
+inline auto getOtherBodyPos() const -> Position
+

Voxel -> Rofi Module.

+
+ +
+
+inline auto zConnDirection() const -> Direction
+
+ +
+
+inline auto xPlusConnDirection() const -> Direction
+
+ +
+
+inline auto getXPlusConnMatrixRotation() const -> rofi::configuration::matrices::Matrix
+
+ +
+
+bool operator==(const Voxel&) const = default
+
+ +
+
+

Public Members

+
+
+Position pos = {}
+
+ +
+
+Direction body_dir = {}
+
+ +
+
+bool shoe_rotated = {}
+
+ +
+
+JointPosition joint_pos = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiModule(const rofi::configuration::UniversalModule &rofiModule) -> atoms::Result<std::array<Voxel, 2>>
+
+ +
+
+static inline auto getConnectors(Voxel shoeA, Voxel shoeB) -> std::array<Connector, 6>
+
+ +
+
+static inline auto getConnOrientation(Direction connDirection, Direction connOrientationVector, Direction otherOrientationVector) -> rofi::configuration::roficom::Orientation
+
+ +
+
+static inline auto toRofiModule(Voxel shoeA, Voxel shoeB, rofi::configuration::ModuleId moduleId) -> rofi::configuration::UniversalModule
+
+ +
+
+
+struct Connector
+
+

Public Members

+
+
+std::string_view name
+
+ +
+
+Position pos
+
+ +
+
+Direction dir
+
+ +
+
+Direction oriVec
+
+ +
+
+ +
+ +
+
+struct VoxelWorld
+
+

Public Functions

+
+
+inline auto toRofiWorld(bool fixateModulesByOne = false) const -> atoms::Result<rofi::configuration::RofiWorld>
+

Converts VoxelWorld to rofi::configuration::RofiWorld.

+

VoxelWorld should be connected and the resulting RofiWorld will be fixed on one component to the world at the according position.

+

If you want to convert VoxelWorld that isn’t connected, you can set fixateModulesByOne.

+
+
Parameters
+

fixateModulesByOne – specifies whether to connect each module to the world separately by a rofi::configuration::RigidJoint instead of connecting modules together by rofi::configuration::RoficomJoints

+
+
+
+ +
+
+bool operator==(const VoxelWorld&) const = default
+
+ +
+
+

Public Members

+
+
+std::vector<Voxel> bodies = {}
+
+ +
+
+

Public Static Functions

+
+
+static inline auto fromRofiWorld(const rofi::configuration::RofiWorld &rofiWorld) -> atoms::Result<VoxelWorld>
+

Converts rofi::configuration::RofiWorld to VoxelWorld.

+

Requires that:

+

+
+

Note

+

Does not check if the resulting VoxelWorld is connected.

+
+
+ +
+
+ +
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/rofilib/index.html b/rofilib/index.html new file mode 100644 index 000000000..42c969546 --- /dev/null +++ b/rofilib/index.html @@ -0,0 +1,201 @@ + + + + + + + RoFILib — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

RoFILib

+

The main building block is a configuration. +The primary configuration is a RofiWorld.

+
+ +
+

Atoms is a collection of helper libraries that are used throughout the project.

+
+ +
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/search.html b/search.html new file mode 100644 index 000000000..a3ab3a8a3 --- /dev/null +++ b/search.html @@ -0,0 +1,125 @@ + + + + + + Search — The RoFI Platform documentation + + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+
    +
    • +
  • Search
    • +
  • +
    • +
+
+
+
+
+ + + + +
+ +
+ +
+
+ +
+
+
+
+ + + + + + + + + \ No newline at end of file diff --git a/searchindex.js b/searchindex.js new file mode 100644 index 000000000..af688cfbe --- /dev/null +++ b/searchindex.js @@ -0,0 +1 @@ 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13,17],unique_ptr:12,unit:[1,6,17],univers:[0,3,15,17,18,21,23],universalmodul:[3,17,21],universalmodulejointvisitor:12,unknown:17,unknownmodul:[17,18],unnecessari:12,unprepar:16,unsign:14,unus:10,up:[1,2,4,6,7,17],updat:[7,9,24],updatedockerimag:7,updatepartit:9,upper:18,us:[1,3,4,5,6,7,9,10,11,12,13,14,16,17,18,20,21,22,24],usag:[0,1,11,22],usecas:14,user:[6,13,14,17],usual:[1,6,13,16],util:[11,14],v:1,val:14,valid:[9,13,16,17,19],validatedrofiworldseq:16,validaterofiworldseq:16,valu:[9,10,12,14,16,17,18,20,21,24],value0:14,value42:14,value_or:14,value_typ:[9,10,14,16],valueptr:[0,11,17,22],valuet:14,variabl:[1,24],variant:14,variou:[1,17],vector:[10,14,16,17,18,21],veloc:9,verbos:1,version:[0,1,24],vi:[1,14],via:[1,4,5,6,7,9,10,12,13,17,18],video:3,view:17,viki:16,virtual:[9,12,17],visit:[12,17],visitablebas:[12,17],visitor:[0,11,22],visitortyp:12,visual:[1,4,20],voltag:9,voxel:[0,15,16,20,22],voxelworld:[19,20,21],vtk:[4,13],wa:[9,13,17],wai:[12,14,15,17,18,24],wait:[9,24],walkthrough:[0,23],want:[1,12,16,17,21],we:[1,2,3,6,12,18],welcom:2,well:14,went:6,were:18,west:[9,17],what:[6,12,24],when:[1,9,12,13,14,16,18,20,21,24],whenev:1,where:[1,18,19,24],whether:[3,4,14,16,17,20,21,24],which:[1,7,9,10,12,13,15,16,17,18,21,24],whole:[3,6,17,21],width:[17,18],wikipedia:12,window:1,within:[17,18],without:[6,12,13,16],won:[12,24],work:[1,3,9,12,13,14,17,18,24],workflow:7,worktre:1,world:[0,1,16,17,18,19,20,21,23],worldformat:16,worldseq:16,worldt:16,would:1,wrapper:9,write:[0,2,9,16,18],writerofiworld:16,writerofiworldseq:16,written:[6,18],wrong:6,x:[13,17,18,19,21,24],xplusconndirect:21,y:[19,21,24],yet:21,yml:7,you:[0,1,2,3,5,6,7,9,10,12,13,14,16,17,18,21,24],your:[0,1,6,9,12,13,18,23],z3:4,z:[19,21,24],zconndirect:21,zero:[6,9,21],zip:1},titles:["RoFI \u2014 Technical Documentation","RoFI Compilation","Introduction, compiling and structure","Project Structure","Desktop Suite","Documentation Suite","Writing and running tests","Release engineering notes","RoFICoM","RoFI HAL","Containers","Atoms","Patterns","Embedded Resources Management","Result","Configurations","Parsing Configurations in C++","RoFI Configuration","Json Serialization","Voxel Serialization","Flags for Configurations in Tools","Voxel Configuration","RoFILib","Tutorials","Simulator Tutorial","Universal Module"],titleterms:{"0":24,"1":24,"2":24,"3":24,"4":24,"5":24,"6":24,"class":[9,10,13,14,17,21],"function":[14,16,17,18],advanc:1,atom:11,attribut:18,build:[1,4,5],c:[6,16],callback:18,cloneabl:12,code:[1,24],commun:24,compil:[1,2,24],configur:[1,15,16,17,20,21,24],connect:21,constant:[9,17,21],contain:10,content:[0,15,17,18,21],continu:7,convers:16,cpp:21,creat:24,depend:[4,5],descript:18,desktop:4,differ:15,document:[0,5,7],embed:13,engin:7,environ:1,exampl:[1,17],explicit:21,filter:24,flag:20,flash:1,folder:24,format:[16,18],gazebosim:1,grammar:19,hal:9,hardwar:1,hello:24,helper:16,hiearchi:12,integr:7,introduct:2,json:[18,19],macro:13,manag:13,modul:[1,17,24,25],move:24,multi:16,multipl:24,network:9,note:7,object:12,option:[4,5],packet:24,pars:16,pattern:12,process:1,project:3,quick:1,refer:[10,13,14],releas:7,resourc:13,result:14,robot:1,rofi:[0,1,9,17],roficom:8,rofilib:22,rofiworld:16,run:[6,24],same:24,serial:[15,18,19],setup:24,simplesim:[1,24],simul:[1,24],solut:24,start:1,structur:[2,3],suit:[1,4,5],support:21,target:1,task:24,technic:0,test:6,tool:20,tutori:[23,24],type:[9,17,21],univers:[24,25],usag:[13,14,15,17],valueptr:12,visitor:12,voxel:[19,21],walkthrough:24,world:24,write:6,your:24}}) \ No newline at end of file diff --git a/tutorials/index.html b/tutorials/index.html new file mode 100644 index 000000000..06a71f88e --- /dev/null +++ b/tutorials/index.html @@ -0,0 +1,153 @@ + + + + + + + Tutorials — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
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+ +
+ +
+
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+
+ + + + \ No newline at end of file diff --git a/tutorials/simulator.html b/tutorials/simulator.html new file mode 100644 index 000000000..146f977ec --- /dev/null +++ b/tutorials/simulator.html @@ -0,0 +1,410 @@ + + + + + + + Simulator Tutorial — The RoFI Platform documentation + + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Simulator Tutorial

+
+

Tip

+

It is recommended that after each task you try to compile and run your code.

+
+
+

Task 0: Setup

+
+

Compile and run SimpleSim

+

See RoFI Compilation. +For this tutorial you will need the +desktop suite.

+

After installing all the prerequisities, run Simplesim using the +Quick start SimpleSim example.

+
+
+

Create a folder for your solution

+

Create a directory for your solution in tutorials/simulator/ +(with any name that you like).

+
+

Note

+

You may be able to create the directory anywhere, but right now the easiest +way to include everything is to work inside the RoFI repository.

+
+
+
+
+

Task 1: Create a Configuration

+

Create a file configuration.json that will contain a configuration with:

+
    +

  • id 12: Universal module

    • +

  • id 42: Pad 6×3

    • +
+

Connect the Universal module by the A-Z connector to the pad with North +orientation at position:

+
O O O O O O
+X O O O O O
+O O O O O O
+
+
+
+

Note

+

You can also try to create the configuration in code and serialize it using the library.

+
+
+

Walkthrough

+

Go to documentation for +configuration serialization.

+
+
+
+

Task 2: Create Hello World for Universal Module

+

Create a file module_code.cpp that will print "Hello world {id}!" +with the local module’s id to the standard output.

+
+

Tip

+

Try running more clients (your module executable) and see what it does.
+When the client seems to be cycling, it probably couldn’t be assigned any module.

+
+
+

Walkthrough

+
    +

  1. Create file module_code.cpp and CMakeLists.txt in your solution folder.

    2. +

  2. Add the executable in CMakeLists.txt and link library rofi::hal.

    +
    # CMakeLists.txt
+
+add_executable(tutorial-simulation module_code.cpp)
+target_link_libraries(tutorial-simulation rofi::hal)
+
    +
    +
    3. +

  3. Update tutorials/simulator/CMakeLists.txt to include your directory +(by adding it to the list SOLUTION_DIRS).

    +
    +

    Note

    +

    This is the only time in this tutorial that you won’t create your own file, +but rather change an existing one.

    +
    +
    4. +

  4. Create the module_code.cpp file with main function that will print +the required information.

    +
    +

    Hint

    +

    See RoFI HAL documentation.

    +
    +
    5. +
+
+

Hint

+

After compiling your code (using rmake), the executable will be in your path +when you are in RoFI environment.

+
+
+
+
+

Task 3: Move Universal Module

+

Modify module_code.cpp such that the Universal module will move to the position:

+
O O O O O O
+O O O O O X
+O O O O O O
+
+
+

The module should be connected by connector B-Z with North orientation.

+
+

Tip

+

The default position of rofi::hal::Connector is extended.

+

So you don’t need to extend the connectors of Pad, +but you need to retract a connector before connecting.

+
+
+

Note

+

The RoFI HAL is asynchronous by design. +However this tutorial is not about asynchronous programming, +so you can use std::promise to synchronize the calls.

+
+

Caution

+

There is no guarantee that the thread in which the callback is called will end. +So use std::promise::set_value() instead of +std::promise::set_value_at_thread_exit().

+
+
+
+

Walkthrough

+

This walkthrough will synchronize everything. +It may not be the best practice, but the best practice for RoFI HAL +in real code will probably be not to use it directly.

+
    +

  1. Add blocking versions of rofi::hal::Joint::setPosition() +and rofi::hal::RoFI::wait().

    +
    +

    Hint

    +
    void blockingFunc()
+{
+    auto funcPromise = std::promise< void >();
+    func( [ & ] { funcPromise.set_value(); } );
+    funcPromise.get_future().get();
+}
+
    +
    +
    +
    2. +

  2. Add blocking versions of rofi::hal::Connector::connect() and +rofi::hal::Connector::disconnect() using +rofi::hal::Connector::onEvent().

    +

    Don’t forget to avoid dangling references.

    +
    3. +

  3. Put it all together.

    +
    +

    Tip

    +

    You can use atoms::Angle to convert degrees to radians.

    +
    +
    4. +
+
+
+
+

Task 4: Multiple Modules with Same Code

+

Create a second Universal module with id 99 connected to the Pad at position Y:

+
O O O O O O
+X O O O O Y
+O O O O O O
+
+
+

Update the code in such a way so that both Universal modules meet at the middle +and connect to each other and print the connection orientation.

+

The Universal modules should be connected together with the A-Z connectors +and they should be connected to the pad at the following positions:

+
O O O O O O
+O X O O Y O
+O O O O O O
+
+
+

Try to program the module code in such a way that it works no matter what ids +the modules have.

+
+

Hint

+

You may need to think about the orientation in which to connect the second +Universal module to the pad in the configuration.

+
+
+

Walkthrough

+
    +

  1. Add a check that code is run in an Universal Module.

    +
    +

    Note

    +

    Modules in simulator will get populated by code from the lowest +rofi::hal::RoFI::Id to the highest.

    +
    +
    2. +

  2. Update code such that both Universal Modules stop in the middle.

    3. +

  3. Get and print the orientation by rofi::hal::Connector::getState().

    4. +
+
+
+
+

Task 5: Module Communication

+

Update the code in such a way so that after both Universal modules meet +in the middle, they:

+
    +

  1. Select a direction to a side.

    2. +

  2. Disconnect from each other.

    3. +

  3. Move in the selected direction.

    +
    +

    Hint

    +

    You will need to rotate with the gamma joint.

    +
    +
    4. +

  4. Connect to each other at the new position.

    +

    The Universal modules should be again connected together with the A-Z connectors. +They should now be connected to the pad right next to each other.

    +
    5. +
+

Again, try to program the module code in such a way that it works no matter +what ids the modules have.

+
+

Walkthrough

+
    +

  1. Add a function that will use rofi::hal::Connector::onPacket() +and return whether this module is the master or not.

    +
    +

    Hint

    +

    You can use the rofi::hal::RoFI::Id since it is always different for +different modules.

    +
    +
    +

    Caution

    +

    Make sure that you set the callback before the other module sends +the packet.

    +
    +
    2. +

  2. Use the knowledge whether the current module id the master to split +the code where you need to.

    3. +
+
+
+
+

Task 6: Packet Filter

+

Create a packet filter discard_half.py that discards every second packet +(counted for each sender module separately).

+

Create a configuration and code to test that it works.

+
+

Walkthrough

+
    +

  1. Create a file discard_half.py and create a python function +filter(packet, sender, receiver).

    +

    The function should return (new_packet, delay_ms). +The packet is lost if delay_ms == -1. +The behaviour when you return other negative values is not specified.

    +
    2. +

  2. Create a variable to store the number of packets sent by each module +and throw away every second packet (by returning -1 delay).

    3. +

  3. Create a configuration of two modules connected together.

    +
    +

    Note

    +

    Don’t forget to fix the position of the modules in space.

    +
    +
    4. +

  4. Add code to test the packet filter.

    5. +

  5. Run the simulator using the -p command line option.

    6. +
+
+
+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file diff --git a/universalModule/index.html b/universalModule/index.html new file mode 100644 index 000000000..5e1ef40bb --- /dev/null +++ b/universalModule/index.html @@ -0,0 +1,112 @@ + + + + + + + Universal Module — The RoFI Platform documentation + + + + + + + + + + + + + + + +
+ + +
+ +
+
+
+ +
+
+
+
+ +
+

Universal Module

+
+ + +
+
+ +
+
+
+
+ + + + \ No newline at end of file